WorldWideScience

Sample records for underwater research vessel

  1. Integrating Multiple Autonomous Underwater Vessels, Surface Vessels and Aircraft into Oceanographic Research Vessel Operations

    Science.gov (United States)

    McGillivary, P. A.; Borges de Sousa, J.; Martins, R.; Rajan, K.

    2012-12-01

    Autonomous platforms are increasingly used as components of Integrated Ocean Observing Systems and oceanographic research cruises. Systems deployed can include gliders or propeller-driven autonomous underwater vessels (AUVs), autonomous surface vessels (ASVs), and unmanned aircraft systems (UAS). Prior field campaigns have demonstrated successful communication, sensor data fusion and visualization for studies using gliders and AUVs. However, additional requirements exist for incorporating ASVs and UASs into ship operations. For these systems to be optimally integrated into research vessel data management and operational planning systems involves addressing three key issues: real-time field data availability, platform coordination, and data archiving for later analysis. A fleet of AUVs, ASVs and UAS deployed from a research vessel is best operated as a system integrated with the ship, provided communications among them can be sustained. For this purpose, Disruptive Tolerant Networking (DTN) software protocols for operation in communication-challenged environments help ensure reliable high-bandwidth communications. Additionally, system components need to have considerable onboard autonomy, namely adaptive sampling capabilities using their own onboard sensor data stream analysis. We discuss Oceanographic Decision Support System (ODSS) software currently used for situational awareness and planning onshore, and in the near future event detection and response will be coordinated among multiple vehicles. Results from recent field studies from oceanographic research vessels using AUVs, ASVs and UAS, including the Rapid Environmental Picture (REP-12) cruise, are presented describing methods and results for use of multi-vehicle communication and deliberative control networks, adaptive sampling with single and multiple platforms, issues relating to data management and archiving, and finally challenges that remain in addressing these technological issues. Significantly, the

  2. Research vessels

    Digital Repository Service at National Institute of Oceanography (India)

    Rao, P.S.

    The role of the research vessels as a tool for marine research and exploration is very important. Technical requirements of a suitable vessel and the laboratories needed on board are discussed. The history and the research work carried out...

  3. Underwater noise from offshore oil production vessels.

    Science.gov (United States)

    Erbe, Christine; McCauley, Robert; McPherson, Craig; Gavrilov, Alexander

    2013-06-01

    Underwater acoustic recordings of six Floating Production Storage and Offloading (FPSO) vessels moored off Western Australia are presented. Monopole source spectra were computed for use in environmental impact assessments of underwater noise. Given that operations on the FPSOs varied over the period of recording, and were sometimes unknown, the authors present a statistical approach to noise level estimation. No significant or consistent aspect dependence was found for the six FPSOs. Noise levels did not scale with FPSO size or power. The 5th, 50th (median), and 95th percentile source levels (broadband, 20 to 2500 Hz) were 188, 181, and 173 dB re 1 μPa @ 1 m, respectively.

  4. Underwater television camera for monitoring inner side of pressure vessel

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

    An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)

  5. Underwater robot system for reactor vessel

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Young Soo; Kim, Tae Won; Lee, Sung Uk; Jeong, Kyung Min [KAERI, Daejeon (Korea, Republic of)

    2012-10-15

    It is dangerous to work inside reactor vessel because of high radioactivity. So robot system is necessary to work inside reactor vessel instead of workers. And robot also has advantage of mobility over conventional equipment which has limitation of the range of accessibility. In this paper, we describe design consideration and criteria of robot system for reactor vessel, and component of developed system. Reliability, usability and convenience of robot system were considered to design and fabrication.

  6. Underwater robot system for reactor vessel

    International Nuclear Information System (INIS)

    Choi, Young Soo; Kim, Tae Won; Lee, Sung Uk; Jeong, Kyung Min

    2012-01-01

    It is dangerous to work inside reactor vessel because of high radioactivity. So robot system is necessary to work inside reactor vessel instead of workers. And robot also has advantage of mobility over conventional equipment which has limitation of the range of accessibility. In this paper, we describe design consideration and criteria of robot system for reactor vessel, and component of developed system. Reliability, usability and convenience of robot system were considered to design and fabrication

  7. Underwater Shock Response Analysis of a Floating Vessel

    Directory of Open Access Journals (Sweden)

    J.E. van Aanhold

    1998-01-01

    Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.

  8. Feasibility of underwater welding of highly irradiated in-vessel components of boiling-water reactors: A literature review

    Energy Technology Data Exchange (ETDEWEB)

    Lund, A.L.

    1997-11-01

    In February 1997, the U.S. Nuclear Regulatory Commission (NRC), Office of Nuclear Regulatory Research (RES), initiated a literature review to assess the state of underwater welding technology. In particular, the objective of this literature review was to evaluate the viability of underwater welding in-vessel components of boiling water reactor (BWR) in-vessel components, especially those components fabricated from stainless steels that are subjected to high neutron fluences. This assessment was requested because of the recent increased level of activity in the commercial nuclear industry to address generic issues concerning the reactor vessel and internals, especially those issues related to repair options. This literature review revealed a preponderance of general information about underwater welding technology, as a result of the active research in this field sponsored by the U.S. Navy and offshore oil and gas industry concerns. However, the literature search yielded only a limited amount of information about underwater welding of components in low-fluence areas of BWR in-vessel environments, and no information at all concerning underwater welding experiences in high-fluence environments. Research reported by the staff of the U.S. Department of Energy (DOE) Savannah River Site and researchers from the DOE fusion reactor program proved more fruitful. This research documented relevant experience concerning welding of stainless steel materials in air environments exposed to high neutron fluences. It also addressed problems with welding highly irradiated materials, and primarily attributed those problems to helium-induced cracking in the material. (Helium is produced from the neutron irradiation of boron, an impurity, and nickel.) The researchers found that the amount of helium-induced cracking could be controlled, or even eliminated, by reducing the heat input into the weld and applying a compressive stress perpendicular to the weld path.

  9. Ocean Research Enabled by Underwater Gliders

    Science.gov (United States)

    Rudnick, Daniel L.

    2016-01-01

    Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

  10. Research on Operational Aspects of Large Autonomous Underwater Glider Fleets

    National Research Council Canada - National Science Library

    Fratantoni, David M

    2007-01-01

    This program supported research on the operational and management issues stemming from application of large fleets of autonomous underwater gliders to oceanographic research and rapid environmental...

  11. Impact of Vessel Noise on Oyster Toadfish (Opsanus tau) Behavior and Implications for Underwater Noise Management

    Science.gov (United States)

    Krahforst, Cecilia S.

    Underwater noise and its impacts on marine life are growing management concerns. This dissertation considers both the ecological and social concerns of underwater noise, using the oyster toadfish (Opsanus tau) as a model species. Oyster toadfish call for mates using a boatwhistle sound, but increased ambient noise levels from vessels or other anthropogenic activities are likely to influence the ability of males to find mates. If increased ambient noise levels reduce fish fitness then underwater noise can impact socially valued ecosystem services (e.g. fisheries). The following ecological objectives of the impacts of underwater noise on oyster toadfish were investigated: (1) to determine how noise influences male calling behavior; (2) to assess how areas of high vessel activity ("noisy") and low vessel activity ("quiet") influence habitat utilization (fish standard length and occupancy rate); and (3) to discover if fitness (number of clutches and number of embryos per clutch) is lower in "noisy" compared with "quiet" sites. Field experiments were executed in "noisy" and "quiet" areas. Recorded calls by males in response to playback sounds (vessel, predator, and snapping shrimp sounds) and egg deposition by females ("noisy" vs. "quiet" sites) demonstrated that oyster toadfish are impacted by underwater noise. First, males decreased their call rates and called louder in response to increased ambient noise levels. Second, oyster toadfish selected nesting sites in areas with little or no inboard motorboat activity. Third, male oyster toadfish at "noisy" sites either had no egg clutches on their shelters or the number of embryos per clutch was significantly lower than in the "quiet" areas. Underwater noise and disturbance from vessels are influencing the fitness of the oyster toadfish. The social significance of the growing concerns regarding underwater noise was investigated by identifying dominant themes found within two types of texts: four recent underwater noise

  12. Underwater sound from vessel traffic reduces the effective communication range in Atlantic cod and haddock.

    Science.gov (United States)

    Stanley, Jenni A; Van Parijs, Sofie M; Hatch, Leila T

    2017-11-07

    Stellwagen Bank National Marine Sanctuary is located in Massachusetts Bay off the densely populated northeast coast of the United States; subsequently, the marine inhabitants of the area are exposed to elevated levels of anthropogenic underwater sound, particularly due to commercial shipping. The current study investigated the alteration of estimated effective communication spaces at three spawning locations for populations of the commercially and ecologically important fishes, Atlantic cod (Gadus morhua) and haddock (Melanogrammus aeglefinus). Both the ambient sound pressure levels and the estimated effective vocalization radii, estimated through spherical spreading models, fluctuated dramatically during the three-month recording periods. Increases in sound pressure level appeared to be largely driven by large vessel activity, and accordingly exhibited a significant positive correlation with the number of Automatic Identification System tracked vessels at the two of the three sites. The near constant high levels of low frequency sound and consequential reduction in the communication space observed at these recording sites during times of high vocalization activity raises significant concerns that communication between conspecifics may be compromised during critical biological periods. This study takes the first steps in evaluating these animals' communication spaces and alteration of these spaces due to anthropogenic underwater sound.

  13. Numerical Simulation and Experiment for Underwater Shock Wave in Newly Designed Pressure Vessel

    Directory of Open Access Journals (Sweden)

    M Shibuta

    2016-09-01

    Full Text Available Modern eating habits depend in large part on the development of food processing technology. Thermal treatments are often performed in the conventional food processing, but it can cause discoloration and loss of nutrients of the food by thermal processing or treatment. On the other hand, food processing using an underwater shock wave has little influence of heat and its processing time is very short, preventing the loss of nutrients. In this research optical observation experiment and the numerical simulation were performed, in order to understand and control the behavior of the underwater shock wave in the development of the processing container using an underwater shock wave for the factory and home. In this experiment a rectangular container was used to observe the behavior of the underwater shock wave. In the experiment, the shock wave was generated by using explosive on the shock wave generation side. The shock wave, which passed through the phosphor bronze and propagated from the aluminum sidewall, was observed on the processing container side. Numerical simulation of an analogous experimental model was investigated, where LS-DYNA software was used for the numerical simulation. The comparative study of the experiment and the numerical simulation was investigated. The behavior of a precursor shock wave from the device wall was able to be clarified. This result is used for development of the device in numerical simulation.

  14. The Research of Optical Turbulence Model in Underwater Imaging System

    Directory of Open Access Journals (Sweden)

    Liying Sun

    2014-01-01

    Full Text Available In order to research the effect of turbulence on underwater imaging system and image restoration, the underwater turbulence model is simulated by computer fluid dynamics. This model is obtained in different underwater turbulence intensity, which contains the pressure data that influences refractive index distribution. When the pressure value is conversed to refractive index, the refractive index distribution can be received with the refraction formula. In the condition of same turbulent intensity, the distribution of refractive index presents gradient in the whole region, with disorder and mutations in the local region. With the turbulence intensity increase, the holistic variation of the refractive index in the image is larger, and the refractive index change more tempestuously in the local region. All the above are illustrated by the simulation results with he ray tracing method and turbulent refractive index model. According to different turbulence intensity analysis, it is proved that turbulence causes image distortion and increases noise.

  15. Research of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

    Directory of Open Access Journals (Sweden)

    Pshikhopov Vyacheslav

    2015-01-01

    Full Text Available Authors consider problem of maintenance and service of underwater vehicles. Usually, underwater station or accompanying ship is required for such operations. Docking is one of the most difficult tasks on the vehicle path from the outer space to the servicing bay. Algorithms allowing docking were presented in the earlier paper, and in this paper authors prove their stability. Movement control is based upon the path regulator. The stability of the closed-loop system according to Liapunov with the given control and limitations is proven. Equations, showing that vehicle will complete the positioning task with account to given limitations and staying stable are given. The criterion for switching movement and “positioning to point” algorithms is proposed. Achievement of the developed criterion was researched theoretically and in computer simulation. Experiments provide deviation of actual coordinates and velocity from the required ones and proved that achieving of criterion is enough to claim that system will be stable while performing algorithms with limitations for controls.

  16. Apparatus for Changing the Attack Angle of a Cavitator on a Supercavatating Underwater Research Model

    National Research Council Canada - National Science Library

    Nedderman, William H

    2005-01-01

    ... tilt the cavitator tilt plate to a desired angle. Power components are remotely located and accessible to an operator so as to enable an operator to vary the angle of the cavitator tilt plate while the supercavitating underwater research model...

  17. Effects of vessel noise on underwater vocalizations of bottlenose dolphins, Tursiops truncatus, in the Sado Estuary

    OpenAIRE

    Sobreira, Filipa Alexandra Veiga

    2017-01-01

    Maritime traffic is an important source of disturbance for coastal cetaceans, especially for local and resident populations, like the bottlenose dolphins (Tursiops truncatus) population in the Sado estuary. Vessel noise might mask important signals such as communication calls. To compensate masking effects, animals may change their vocal behavior by shifting vocal rate, call intensity, call type, call frequency and duration. To evaluate the potential impacts on the acoustic behavior of this p...

  18. Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

    Directory of Open Access Journals (Sweden)

    Dalhatu Muhammed

    2018-02-01

    Full Text Available Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal, long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

  19. Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions.

    Science.gov (United States)

    Muhammed, Dalhatu; Anisi, Mohammad Hossein; Zareei, Mahdi; Vargas-Rosales, Cesar; Khan, Anwar

    2018-02-01

    Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node's cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

  20. Academic Research Vessels 1985-1990.

    Science.gov (United States)

    1982-01-01

    replacement, and only one of these vessels was larger than 100 ft. In addition to the recently completed replacements of the EASTWARD and the GILLISS by... GILLISS and R/V EASTWARD by two new coastal vessels, the R/V CAPE FLORIDA and R/V CAPE HATTERAS. These estimates for the cost of vessel replacement

  1. Research on key technology of prognostic and health management for autonomous underwater vehicle

    Science.gov (United States)

    Zhou, Zhi

    2017-12-01

    Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.

  2. Research Vessel R/V Sikuliaq: Joining the UNOLS Fleet in 2014

    Science.gov (United States)

    Whitledge, T. E.

    2013-12-01

    The global class research vessel R/V Sikuliaq is being constructed on behalf of the NSF to support future scientific studies in high latitude waters. The 261 foot vessel will be capable of breaking 2.5 foot thick ice at 2 knots with an endurance of 45 days at sea and cruising at 11 knots. The R/V Sikuliaq has a beam of 52 feet and a draft of 18.9 feet that will carry 26 scientists and a crew of 20. Berthing accommodations are a combination of single/double rooms with one stateroom and the common areas of the vessel are designed for ADA access and accommodations. The total laboratory space (main, analytical, electronics, wet, upper, and Baltic room are 2100 square feet. The 4360 square foot working deck that is approximately 70 feet in length will accommodate 2-4 vans and multiple science operations. The vessel design strives to have the lowest possible environmental impact, including a low underwater-radiated noise signature. The science systems are prescribed to be state-of-the-art for bottom mapping, over-the-side 'hands free' gear handling, broad band communications and scientific walk-in freezer and environmental chamber. More details and photos of the construction progress are available on the website at www.sfos.uaf.edu/arrv. The vessel was launched in October 2012 and delivery to the University of Alaska Fairbanks is scheduled for November 2013. Scientific operations following testing and science sea trials are planned to start in summer of 2014. Questions about the science systems or vessel capabilities should be directed to Terry Whitledge (terry@ims.uaf.edu).

  3. Research and design of underwater flow-induced vibration energy harvester based on Karman vortex street

    Science.gov (United States)

    Yao, Gang; Wang, Hai; Yang, Chunlai; Wen, Li

    2017-03-01

    With the increasing development of wireless sensor network (WSN), power supply for WSN nodes had attracted increasing attention, and the energy harvesting system based on Karman vortex street has been widely used in underwater WSN. But the research of the influences of affecting factors towards the energy harvesting system is yet to be completed. So, in this paper, an underwater flow-induced vibration energy harvesting system based on Karman vortex street was proposed and tested. The influence of bluff body geometry and flow velocity towards the performance of the energy harvesting has been researched. The results showed that the output voltage increased as the diameter of bluff body and the water velocity increase. The power generation efficiency was the best when the shape of bluff body was circular.

  4. Reactor pressure vessel structural integrity research

    International Nuclear Information System (INIS)

    Pennell, W.E.; Corwin, W.R.

    1994-01-01

    Development continues on the technology used to assess the safety of irradiation-embrittled nuclear reactor pressure vessels (RPVs) containing flaws. Fracture mechanics tests on RPV steel, coupled with detailed elastic-plastic finite-element analyses of the crack-tip stress fields, have shown that (1) constraint relaxation at the crack tip of shallow surface flaws results in increased data scatter but no increase in the lower-bound fracture toughness, (2) the nil ductility temperature (NDT) performs better than the reference temperature for nil ductility transition (RT NDT ) as a normalizing parameter for shallow-flaw fracture toughness data, (3) biaxial loading can reduce the shallow-flaw fracture toughness, (4) stress-based dual-parameter fracture toughness correlations cannot predict the effect of biaxial loading on shallow-flaw fracture toughness because in-plane stresses at the crack tip are not influenced by biaxial loading, and (5) an implicit strain-based dual-parameter fracture toughness correlation can predict the effect of biaxial loading on shallow-flaw fracture toughness. Experimental irradiation investigations have shown that (1) the irradiation-induced shift in Charpy V-notch vs temperature behavior may not be adequate to conservatively assess fracture toughness shifts due to embrittlement, and (2) the wide global variations of initial chemistry and fracture properties of a nominally uniform material within a pressure vessel may confound accurate integrity assessments that require baseline properties

  5. Characterization of ships as sources of underwater noise

    OpenAIRE

    Jong, C.A.F. de

    2009-01-01

    There is a growing interest in the possible impact of anthropogenic underwater noise on marine life [1]. One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest for naval [2,3] and fishery research vessels [4]. Due to the potential environmental impact, it becomes also relevant for commercial shipping. The challenge is to bring the expertise from the naval ...

  6. Development of an integrated data acquision system for research vessels

    Digital Repository Service at National Institute of Oceanography (India)

    Mehra, P.; Desai, R.G.P.

    This article describes an integrated data acquisition system (IDAS) designed and developed for multi-oceanographic research vessels. The prime motivation was to provide a flexible system, which could be used in the context of ocean related...

  7. Research Vessel R/V Sikuliaq: A New Asset For The UNOLS Fleet

    Science.gov (United States)

    Whitledge, T. E.

    2012-12-01

    The research vessel R/V Sikuliaq is currently being constructed on behalf of the NSF to support future scientific studies in high latitude waters. The 261 foot global class vessel will be capable of breaking 2.5 foot thick ice at 2 knots with an endurance of 45 days at sea and cruising at 11 knots. The R/V Sikuliaq will have a beam of 52 feet and a draft of 18.9 feet that will carry 26 scientists and a crew of 20. Berthing accommodations are a combination of single/double rooms with one stateroom and the common areas of the vessel are designed for ADA access and accommodations. The total laboratory space (main, analytical, electronics, wet, upper, and Baltic room will be 2100 square feet. The 4360 square foot working deck that is approximately 70 feet in length will accommodate 2-4 vans and multiple science operations. The vessel design strives to have the lowest possible environmental impact, including a low underwater-radiated noise signature. The science systems are prescribed to be state-of-the-art for bottom mapping, over-the-side "hands free" gear handling, broad band communications and scientific walk-in freezer and environmental chamber. More details and photos of the construction progress are available on the website at www.sfos.uaf.edu/arrv. The shipyard schedule has a launch date of October 2012 and delivery to the University of Alaska Fairbanks in July 2013. Scientific operations following trials and testing is planned to start in January 2014. Questions about the science systems or vessel capabilities should be directed to Terry Whitledge (terry@ims.uaf.edu).;

  8. Survey and Recording Technologies in Italian Underwater Cultural Heritage: Research and Public Access Within the Framework of the 2001 UNESCO Convention

    Science.gov (United States)

    Secci, Massimiliano

    2017-08-01

    The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.

  9. Possible research program on a large scale nuclear pressure vessel

    International Nuclear Information System (INIS)

    1983-01-01

    The nuclear pressure vessel structural integrity is actually one of the main items in the nuclear plants safety field. An international study group aimed at investigating the feasibility of a ''possible research program'' on a scale 1:1 LWR pressure vessel. This report presents the study group's work. The different research programs carried out or being carried out in various countries of the European Community are presented (phase I of the study). The main characteristics of the vessel considered for the program and an evaluation of activities required for making them available are listed. Research topic priorities from the different interested countries are summarized in tables (phase 2); a critical review by the study group of the topic is presented. Then, proposals for possible experimental programs and combination of these programs are presented, only as examples of possible useful research activities. The documents pertaining to the results of phase I inquiry performed by the study group are reported in the appendix

  10. US-Japan Cooperative Research on Biology-Inspired Precision Maneuvering of Underwater Vehicles

    National Research Council Canada - National Science Library

    Kato, Naomi

    2004-01-01

    .... We constructed an underwater vehicle equipped with two pairs of mechanical pectoral fins and pectoral fin controllers to examine the swimming performance of the underwater vehicle in still water...

  11. Construction Progress and Science Planning for the New Research Vessel R/V Sikuliaq

    Science.gov (United States)

    Whitledge, T. E.

    2011-12-01

    The research vessel R/V Sikuliaq (pronounced [see-KOO-lee-auk]) is currently being constructed on behalf of the NSF to support future scientific studies in high latitude waters. The 261 foot global class vessel will be capable of breaking 2.5 foot thick ice at 2 knots with an endurance of 45 days at sea and cruising at 11 knots. The R/V Sikuliaq will have a beam of 52 feet and a draft of 18.9 feet that will carry 26 scientists and a crew of 20. Berthing accommodations are a combination of single/double rooms with one stateroom and the common areas of the vessel are designed for ADA access and accommodations. The total laboratory space (main, analytical, electronics, wet, upper, and Baltic room will be 2100 square feet. The 4360 square foot working deck that is approximately 70 feet in length will accommodate 2-4 vans and multiple science operations. The vessel design strives to have the lowest possible environmental impact, including a low underwater-radiated noise signature. The science systems are prescribed to be state-of-the-art for bottom mapping, over-the-side "hands free" gear handling, broad band communications and scientific walk-in freezer and environmental chamber. More details and photos of the construction progress are available on the website at www.sfos.uaf.edu/arrv. The tentative shipyard schedule has a launch date of June 2012 and delivery to the University of Alaska Fairbanks in June 2013. Scientific operations following trials and testing is planned to start in January 2014. A Sikuliaq science planning workshop has been arranged for 18-19 February 2012 in Salt Lake City, UT just prior to the 2012 Ocean Sciences meeting. Interested participants should contact Terry Whitledge (terry@ims.uaf.edu).

  12. Instrumentation for high-frequency meteorological observations from research vessel

    Digital Repository Service at National Institute of Oceanography (India)

    VijayKumar, K.; Khalap, S.; Mehra, P.

    vessel”, Journal of Atmospheric and Oceanic Technology, Vol. 21, pp. 1575-1589, October 2004. [2] Xilong Song, Carl A Friehe, and Dunxin Hu, “Ship board measurements and estimation of air-sea flux in the Western Tropical Pacific duration TOGA... of Oceanography (hereafter NIO), Goa has recently acquired a Research Vessel Sindhu Sankalp (hereafter RV SS), for oceanographic observations along the Indian coast and equatorial regions. In this paper, we describe the instrumentation set-up aboard research...

  13. A PROPOSAL FOR A SUSTAINABLE MODEL BASED UPON UNDERWATER TOURISM RESEARCH IN AYVALIK

    Directory of Open Access Journals (Sweden)

    A. GÖKDENİZ

    2013-03-01

    Full Text Available Underwater sports are the activities being done with the aims of witnessing the beauties, hunting, taking photos, the ecology and the archaeology of underwater analysing or finding out the human being’s boundaries by improving the physical and psychological skills of men. The initial aim of this project is to increase the underwater flora and the fauna heritage of Ayvalık and to bring them in tourism. Ayvalık is on the west coast of Turkey. It is getting more and more famous with its underwater richness. Also, to form a new underwater sports centre in order to contribute to the improvement of the region. By providing visual attractiveness, the tourists related to underwater sports will pay attention to Ayvalık and underwater tourism will contribute much to the economy of the region. The aim of this project is to improve the underwater sports which is now a hobby than a sport. In Ayvalık Underwater World study, we dealt with 247 divers and 4 underwater sports club. In this study, we analysed the expectation, satisfaction, demographic and economic level of 247 divers about the services in the region. Interview technique has been used in the study on the 4 underwater sports clubs which are hosting divers. As a conclusion, a report has been prepared in which detailed information and proposals are presented by developing a sustainable marketing model concerned with the underwater sports for those who want to possess information, shareholders of the sector and make analyse about tourism.

  14. Developing national on-line services to annotate and analyse underwater imagery in a research cloud

    Science.gov (United States)

    Proctor, R.; Langlois, T.; Friedman, A.; Davey, B.

    2017-12-01

    Fish image annotation data is currently collected by various research, management and academic institutions globally (+100,000's hours of deployments) with varying degrees of standardisation and limited formal collaboration or data synthesis. We present a case study of how national on-line services, developed within a domain-oriented research cloud, have been used to annotate habitat images and synthesise fish annotation data sets collected using Autonomous Underwater Vehicles (AUVs) and baited remote underwater stereo-video (stereo-BRUV). Two developing software tools have been brought together in the marine science cloud to provide marine biologists with a powerful service for image annotation. SQUIDLE+ is an online platform designed for exploration, management and annotation of georeferenced images & video data. It provides a flexible annotation framework allowing users to work with their preferred annotation schemes. We have used SQUIDLE+ to sample the habitat composition and complexity of images of the benthos collected using stereo-BRUV. GlobalArchive is designed to be a centralised repository of aquatic ecological survey data with design principles including ease of use, secure user access, flexible data import, and the collection of any sampling and image analysis information. To easily share and synthesise data we have implemented data sharing protocols, including Open Data and synthesis Collaborations, and a spatial map to explore global datasets and filter to create a synthesis. These tools in the science cloud, together with a virtual desktop analysis suite offering python and R environments offer an unprecedented capability to deliver marine biodiversity information of value to marine managers and scientists alike.

  15. "Boxnep" advanced modular underwater robot

    OpenAIRE

    Buluev, Ilia

    2016-01-01

    The article discusses the relevance of the underwater vehicles' ability to solve a wide range of problems. The idea put in the basis of this research is designing a modular underwater robot. It allows to mount various equipment and test it in underwater environment. The paper deals with the concept of the robot and its characteristics.

  16. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  17. Advanced Datapresence From A New Generation Of Research Vessels

    Science.gov (United States)

    Romsos, C. G.; Nahorniak, J.; Watkins-Brandt, K.; Bailey, D.; Reimers, C.

    2016-02-01

    The design of the next generation Regional Class Research Vessels (RCRV) for the U.S. academic research fleet includes the development of advanced datapresence systems and capabilities. Datapresence is defined here as the real-time transfer of scientific and operational data between vessel and shore, to facilitate shore-based participation in oceanographic expeditions. Datapresent technologies on the RCRVs build upon the demonstrated success of telepresence activities on satellite-connected ships. Specifically, the RCRV datapresence design integrates a broad suite of ocean and meteorological sensors on the vessel into a networked environment with satellite communication access. In addition to enabling operational decisions from shore, these capabilities will bring ocean research to the classroom and local communities, advancing ocean and atmospheric literacy, via dynamic data products that support hands-on exercises and demonstrations of oceanographic and atmospheric processes. The operational requirements of data integration, management, visualization, and user-interaction are being developed and tested now and will be refined over the next 5-6 years during the RCRV construction and transition to operations phases. This presentation will illustrate the RCRV datapresence design and how datapresent technologies will transform these National Science Foundation-owned coastal ships into continuous sampling and data streaming platforms that leverage onshore resources for making efficient scientific and operational decisions.

  18. ROV-based Underwater Vision System for Intelligent Fish Ethology Research

    Directory of Open Access Journals (Sweden)

    Rui Nian

    2013-09-01

    Full Text Available Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV-based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition. The underwater vision system can further detect and track swimming fish from the resulting images with the strategies developed using curve evolution and particular filtering, in order to obtain a deeper understanding of fish behaviours. The simulation results have shown the excellent performance of the developed scheme, in regard to both robustness and effectiveness.

  19. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

    A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)

  20. Use of the Research Vessel Savannah in Support of 2015 ONR S and T Demo, Project ID: 104458

    Science.gov (United States)

    2016-07-26

    Savannah in support of Project ID: 104458, a demonstration to increase effectiveness of mine hunting exercises, ordinance surveys, maritime archaeology and...Underwater Vehicle (AUV) and Unmanned-Surface Vehicle (USV) technologies Ln a common at sea environment ." A total of 6 countries, 20 vessels, and over

  1. Workshop on Requirements for Robotic Underwater Drills in U.S. Marine Geoscience Research

    Science.gov (United States)

    Sager, W. W.; Johnson, H. P.; Dick, H.; Fryer, P.

    2001-05-01

    At present, subsurface hard rock samples and sediment cores deeper than ~30 m must be acquired using a drill ship, but a drill ship has severe limitations: high cost, limited availability, and poor performance in some lithologies. Many marine geoscience studies require more sampling than can be provided by the drill ship, samples from those problem lithologies, or samples from locations where the drill ship cannot go. Robotic underwater drills may help satisfy this need. Twenty-five scientists and engineers, representing a variety of academic institutions and scientific interests, met on November 3 and 4, 2000, to discuss how to bring about the ready access to robotic underwater drills for scientists engaged in academic research. The workshop considered what science programs would benefit from robotic drills, how many drills of what specifications are needed, and how such drills should be supported. The consensus was that there is a widespread need for a several drills. Most scientists wish for a Robotic Ocean-Bottom drill (ROBO-drill) that can core 50-100 m below the seafloor, with either rotary diamond bits or hydraulic corer, and retrieve cores >5 cm diameter from water depths up to ~4500 m. Although this big ROBO-drill has the widest application, attendees also favored three "niche" drills with different configurations. On the smaller end, there is a need for mini-ROBO-drill that is simple, can work in deeper water, is easily shipped and maintained, and would likely have a single core barrel 1-2 m in length. This drill would be for projects in which small penetration is adequate but cost is a primary concern. An ROV-based drill is also needed, attached to a widely available platform. With high maneuverability and excellent imaging capability, the ROV-drill would be the equivalent of a geologist roaming the seafloor with a rock hammer. There also may be a need for a slightly larger, single-barrel drill that can core up to ~5 m depth to reach below small sediment

  2. The industrial research project: “Blu-Archeosys – Innovative Technologies and Advanced Systems as Support in Underwater Archaeology”

    Directory of Open Access Journals (Sweden)

    Salvatore Lorusso

    2003-02-01

    Full Text Available The reasons of the research about new technologies as support in naval and underwater archaeology or, more generally, in waters archaeology are various and described in this work, where the characteristics of the research project “BLU-ARCHEOSYS – Innovative Technologies and Advanced SYStems as Support in Underwater ARCHaeology” are illustrated. This industrial research project faces problems regarding innovative technologies and instruments in waters archaeology and it comprehends synergic steps and joined works among skilled professionals that have the competences to interpret qualitative and/or quantitative data within an artistic – historical and technical – historical study, also with the involvement of various public and private institutions. The BLUARCHEOSYS project has, in fact, the objective to create technologies that have a reply in underwater archaeology and contemporaneously in other sectors. In particular, starting from the methodological way that spans from the discovery in underwater or subaerial environment to the collocation of the objects in museums, the intent is to support the different methodological stages with specific tools and innovative technologies. The education project, presented to the Ministry with the research one, is articulated in the different branches of artistic-historical character, of the management, normative and operative character, and of the technical-diagnostic-material-preservative character. The professionals will have not only theoretical knowledge about standard and consolidated technologies, but they will be also experts about methodologies, in particular the diagnostic ones, that put in field the innovative tools evaluated in the project, with consequent competitive advantage in the working field, more and more demanding specific sector competences.

  3. Research Vessel HEINCKE Operated by the Alfred-Wegener-Institute

    Directory of Open Access Journals (Sweden)

    Rainer Knust

    2017-11-01

    Full Text Available HEINCKE operated by the Alfred-Wegener-Institut Helmholtz-Zentrum für Polar- und Meeresforschung, is a medium size multipurpose research vessel, which was designed for long-term cruises throughout the North Atlantic Sea up to Svalbard and the adjacent shelf seas. She offers work places and accommodation for 12 scientists and 12 crew members. The operating range of this low noise ship is about 7500 nautical miles (= 30 passage days. Four laboratories (wet, dry, constant temperature controlled and hydroacoustic/CTD offer almost vibration-free work places. Additionally space is available for special containers. The ship is equipped with several winch systems, cranes, and sonar systems, which allow a wide range of biological, chemical, oceanographic, geological and geophysical research applications. The onboard science support equipment allows working in water depths of up to approximately 2000 meters.

  4. Research on the underwater target imaging based on the streak tube laser lidar

    Science.gov (United States)

    Cui, Zihao; Tian, Zhaoshuo; Zhang, Yanchao; Bi, Zongjie; Yang, Gang; Gu, Erdan

    2018-03-01

    A high frame rate streak tube imaging lidar (STIL) for real-time 3D imaging of underwater targets is presented in this paper. The system uses 532nm pulse laser as the light source, the maximum repetition rate is 120Hz, and the pulse width is 8ns. LabVIEW platform is used in the system, the system control, synchronous image acquisition, 3D data processing and display are realized through PC. 3D imaging experiment of underwater target is carried out in a flume with attenuation coefficient of 0.2, and the images of different depth and different material targets are obtained, the imaging frame rate is 100Hz, and the maximum detection depth is 31m. For an underwater target with a distance of 22m, the high resolution 3D image real-time acquisition is realized with range resolution of 1cm and space resolution of 0.3cm, the spatial relationship of the targets can be clearly identified by the image. The experimental results show that STIL has a good application prospect in underwater terrain detection, underwater search and rescue, and other fields.

  5. Summary engineering description of underwater fuel storage facility for foreign research reactor spent nuclear fuel

    Energy Technology Data Exchange (ETDEWEB)

    Dahlke, H.J.; Johnson, D.A.; Rawlins, J.K.; Searle, D.K.; Wachs, G.W.

    1994-10-01

    This document is a summary description for an Underwater Fuel Storage Facility (UFSF) for foreign research reactor (FRR) spent nuclear fuel (SNF). A FRR SNF environmental Impact Statement (EIS) is being prepared and will include both wet and dry storage facilities as storage alternatives. For the UFSF presented in this document, a specific site is not chosen. This facility can be sited at any one of the five locations under consideration in the EIS. These locations are the Idaho National Engineering Laboratory, Savannah River Site, Hanford, Oak Ridge National Laboratory, and Nevada Test Site. Generic facility environmental impacts and emissions are provided in this report. A baseline fuel element is defined in Section 2.2, and the results of a fission product analysis are presented. Requirements for a storage facility have been researched and are summarized in Section 3. Section 4 describes three facility options: (1) the Centralized-UFSF, which would store the entire fuel element quantity in a single facility at a single location, (2) the Regionalized Large-UFSF, which would store 75% of the fuel element quantity in some region of the country, and (3) the Regionalized Small-UFSF, which would store 25% of the fuel element quantity, with the possibility of a number of these facilities in various regions throughout the country. The operational philosophy is presented in Section 5, and Section 6 contains a description of the equipment. Section 7 defines the utilities required for the facility. Cost estimates are discussed in Section 8, and detailed cost estimates are included. Impacts to worker safety, public safety, and the environment are discussed in Section 9. Accidental releases are presented in Section 10. Standard Environmental Impact Forms are included in Section 11.

  6. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

    This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       

  7. Underwater Glider System Study

    OpenAIRE

    Jenkins, Scott A; Humphreys, Douglas E; Sherman, Jeff; Osse, Jim; Jones, Clayton; Leonard, Naomi; Graver, Joshua; Bachmayer, Ralf; Clem, Ted; Carroll, Paul; Davis, Philip; Berry, Jon; Worley, Paul; Wasyl, Joseph

    2003-01-01

    The goals of this study are to determine how to advance from present capabilities of underwater glider (and hybrid motorglider) technology to what could be possible within the next few years; and to identify critical research issues that must be resolved to make such advancements possible. These goals were pursued by merging archival flight data with numerical model results and system spreadsheet analysis to extrapolate from the present state-of-the–art in underwater (UW) gliders to potential...

  8. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  9. Google™ underwater

    Science.gov (United States)

    Showstack, Randy

    2012-10-01

    The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.

  10. Study on operation conditions and an operation system of a nuclear powered submersible research vessel, 'report of working group on application of a very small nuclear reactor to an ocean research'

    Energy Technology Data Exchange (ETDEWEB)

    Ura, Tamaki [Tokyo Univ., Tokyo (Japan); Takamasa, Tomoji [Tokyo Univ. of Mercantile Marine, Tokyo (Japan); Nishimura, Hajime [Japan Marine Science and Technology Center, Yokosuka, Kanagawa (JP)] [and others

    2001-07-01

    JAERI has studied on design of a nuclear powered submersible research vessel, which will navigate under sea mainly in the Arctic Ocean, as a part of the design activity of advanced marine reactors. This report describes operation conditions and an operating system of the vessel, which were discussed by the specialists of hull design, sound positioning, ship motions and oceanography, etc. The design conditions on ship motions for submersible vessels were surveyed considering regulations in our country, and ship motions were evaluated in the cases of underwater and surface navigations taking account of observation activities in the Arctic Ocean. The effect of ship motions on the compact nuclear reactor SCR was assessed. A submarine transponder system and an on-ice communication buoy system were examined as a positioning and communication system, supposing the activity under ice. The interval between transponders or communication buoys was recommended as 130 km. Procedures to secure safety of nuclear powered submersible research vessel were discussed according to accidents on the hull or the nuclear reactor. These results were reflected to the concept of the nuclear powered submersible research vessel, and subjects to be settled in the next step were clarified. (author)

  11. Study on operation conditions and an operation system of a nuclear powered submersible research vessel, 'report of working group on application of a very small nuclear reactor to an ocean research'

    International Nuclear Information System (INIS)

    Ura, Tamaki; Takamasa, Tomoji; Nishimura, Hajime

    2001-07-01

    JAERI has studied on design of a nuclear powered submersible research vessel, which will navigate under sea mainly in the Arctic Ocean, as a part of the design activity of advanced marine reactors. This report describes operation conditions and an operating system of the vessel, which were discussed by the specialists of hull design, sound positioning, ship motions and oceanography, etc. The design conditions on ship motions for submersible vessels were surveyed considering regulations in our country, and ship motions were evaluated in the cases of underwater and surface navigations taking account of observation activities in the Arctic Ocean. The effect of ship motions on the compact nuclear reactor SCR was assessed. A submarine transponder system and an on-ice communication buoy system were examined as a positioning and communication system, supposing the activity under ice. The interval between transponders or communication buoys was recommended as 130 km. Procedures to secure safety of nuclear powered submersible research vessel were discussed according to accidents on the hull or the nuclear reactor. These results were reflected to the concept of the nuclear powered submersible research vessel, and subjects to be settled in the next step were clarified. (author)

  12. The Research on Improved Companding Transformation for Reducing PAPR in Underwater Acoustic OFDM Communication System

    Directory of Open Access Journals (Sweden)

    Jinqiu Wu

    2016-01-01

    Full Text Available To solve the problem of the high peak-to-average power ratio (PAPR in Orthogonal Frequency Division Multiplexing (OFDM for the underwater acoustic communication system, the paper offers a method of reducing PAPR which combines the amplitude limiting and the improved nonlinear transformation. Traditional amplitude limiting technique can reduce PAPR in OFDM system effectively, at the cost of reducing the bit error rate (BER. However the companding transformation has far less computation complexity than SLM or PTS technologies and can improve the BER performance compared to the amplitude limiting technique simultaneously. The paper combines these two kinds of techniques, takes full use of advantages of the two method, and puts forward a low-complexity scheme choosing parameters that are more appropriate to the underwater acoustic field, with the result of improved BER performance even in lower SNR. Both simulation and experiment results show that the new method which combines clipping and companding transformation can effectively reduce the PAPR in the underwater acoustic OFDM communication system and improve the BER performance simultaneously.

  13. Energy Consumption Research of Mobile Data Collection Protocol for Underwater Nodes Using an USV

    Directory of Open Access Journals (Sweden)

    Zhichao Lv

    2018-04-01

    Full Text Available The Unmanned Surface Vehicle (USV integrated with an acoustic modem is a novel mobile vehicle for data collection, which has an advantage in terms of mobility, efficiency, and collection cost. In the scenario of data collection, the USV is controlled autonomously along the planning trajectory and the data of underwater nodes are dynamically collected. In order to improve the efficiency of data collection and extend the life of the underwater nodes, a mobile data collection protocol for underwater nodes using the USV was proposed. In the protocol, the stop-and-wait ARQ transmission mechanism is adopted, where the duty cycle is designed considering the ratio between the sleep mode and the detection mode, and the transmission ratio is defined by the duty cycle, wake-up signal cycles, and USV’s speed. According to protocol, the evaluation index for energy consumption is constructed based on the duty cycle and the transmission ratio. The energy consumption of the protocol is simulated and analyzed using the mobile communication experiment data of USV, taking into consideration USV’s speed, data sequence length, and duty cycle. Optimized protocol parameters are identified, which in turn denotes the proposed protocol’s feasibility and effectiveness.

  14. Research on Design of Plate-type Electromagnetic Coupler in Underwater Inductive Power Transmission

    Directory of Open Access Journals (Sweden)

    Qu Li-yan

    2015-01-01

    Full Text Available Magnetic coupler has a good application in the field of underwater sensor. Magnetic coupler at work, interference by underwater complex situation, stability and efficiency of charging device of the gap is larger fluctuations. The traditional electromagnetic coupling is charging for the stability of the clearance to demand higher. Charging for underwater, as a result of the existence of ocean currents, electromagnetic coupling clearance may not remain very stable. When there is deviation gap, a larger electromagnetic coupling performance deviation. On this particular problem, it puts forward the design method of a new type of plate type electromagnetic coupling. First of all, the leakage inductance of the finite element method to calculate system and excitation inductance, establish electromagnetic coupler with compensation capacitor equivalent circuit, and the primary circuit and secondary circuit was designed. On the basis, the voltage gain and efficiency of the system are carrying on the theoretical derivation and calculation. The simulation experimental results show that the magnetic coupler has a stable voltage gain and charging efficiency, when the partial core within 10 mm, voltage gain remains steady at 5.8%, efficiency remain at around 90%.

  15. Underwater Vehicle

    National Research Council Canada - National Science Library

    Dick, James L

    2007-01-01

    There is thus provided an underwater vehicle having facility for maneuvering alongside a retrieving vehicle, as by manipulation of bow and stern planes, for engaging a hull surface of the retrieving...

  16. Award 1 Title: Acoustic Communications 2011 Experiment: Deployment Support and Post Experiment Data Handling and Analysis. Award 2 Title: Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award. 3 Title: Coupled Research in Ocean Acoustics and Signal Processing for the Next Generation of Underwater Acoustic Communication Systems

    Science.gov (United States)

    2015-09-30

    Exploiting Structured Dependencies in the Design of Adaptive Algorithms for Underwater Communication Award #3 Title Coupled Research in Ocean Acoustics ...and Signal Processing for theNext Generation of Underwater Acoustic Communication Systems James Preisig Woods Hole Oceanographic Institution...Dept. of Applied Ocean Physics and Engineering Ocean Acoustics and Signals Laboratory Woods Hole, MA 02540 AND JPAnalytics LLC 638 Brick Kiln

  17. The development of a under-water robot system for inspection of the contaminated inner wall of nuclear research reactor

    International Nuclear Information System (INIS)

    Kim, Kyung Hoon; Kim, Byung Man; Cho, Hyung Suk; Park, Ki Yong; Park, Young Soo; Yoon, Ji Sup; Lee, Byung Jik

    1997-01-01

    In this paper, an under-water robot system is developed in order to inspect the radiation level and decontaminate the contaminated inner wall of nuclear research reactor, TRIGA MARK III. This system is composed of the mobile robot which navigates autonomously under the water and the ground control unit which monitors and commands the motion of mobile robot. The mobile robot can move on the wall surface with five thruster systems and is composed of three parts, i.e., mechanical, control, and sensory parts. The five thruster system is configured such as one main thruster, two wall adhesion thruster, and two turning/buoyancy compensation thruster. The control part has 4 CPU boards and each board is configured such that one is in charge of supervisory control mode which controls the position of mobile robot and communicates with the ground control unit and the other board is designed to have motor control mode which drives two motors simultaneously. In secondary part, the laser scanner and fluorescent reflectors and the incilinometer are designed. The laser scanner with fluorescent reflectors provides the current position of the mobile robot on the wall surface and by incilinometer, the moving direction can be obtained. This paper describes the design and configuration procedures of under-water robot in detail and presents the experimental results for characteristic test of the thruster system. 11 refs., 4 tabs., 7 figs

  18. An Underwater Robot for the Maintenance of Nuclear Power Plants

    International Nuclear Information System (INIS)

    Lee, Sung-Uk; Choi, Young-Soo; Jeong, Kyung-Min

    2007-01-01

    The safety and reliability of nuclear power plants has become more important than in the past. Inspection and maintenance of a component should be achieved continuously. Two reactor types PWR (Pressurized Water Reactor) and PHWR (Pressurized Heavy Water Reactor) are normally operated in Korea. In the case of a PWR, the presence of any loose part affects the safety of a nuclear power plant. A loose part, which could be from failed components or an item inadvertently left during a construction, refueling or maintenance like as metallic parts, bolts, nuts and washers, can damage any part by frequently impacting that part in the system. Therefore, work that detects a loose part and removes it from a the nuclear reactor vessel is very important. Moreover, the inspection of the RCS (reactor coolant system) of PWR is also important. The RCS has a role to cool down the reactor's temperature. But human workers can't access the RCS easily because of the complexity of the path and the radiation level. So a robotic system is needed to inspect the RCS closely. Research on an underwater robot for an inspection of a nuclear reactor vessel began in the 1990s. Since then, many underwater robots for a nuclear power plant have been developed. But the developed underwater robots were so heavy and also they only had one function that is to inspect the nuclear reactor vessel. In this paper, an underwater robotic system is developed for inspecting the bottom of the nuclear reactor vessel, hot legs and cold legs of reactor coolant system and also for removing some particles in them

  19. An Underwater Robot for the Maintenance of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung-Uk; Choi, Young-Soo; Jeong, Kyung-Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2007-07-01

    The safety and reliability of nuclear power plants has become more important than in the past. Inspection and maintenance of a component should be achieved continuously. Two reactor types PWR (Pressurized Water Reactor) and PHWR (Pressurized Heavy Water Reactor) are normally operated in Korea. In the case of a PWR, the presence of any loose part affects the safety of a nuclear power plant. A loose part, which could be from failed components or an item inadvertently left during a construction, refueling or maintenance like as metallic parts, bolts, nuts and washers, can damage any part by frequently impacting that part in the system. Therefore, work that detects a loose part and removes it from a the nuclear reactor vessel is very important. Moreover, the inspection of the RCS (reactor coolant system) of PWR is also important. The RCS has a role to cool down the reactor's temperature. But human workers can't access the RCS easily because of the complexity of the path and the radiation level. So a robotic system is needed to inspect the RCS closely. Research on an underwater robot for an inspection of a nuclear reactor vessel began in the 1990s. Since then, many underwater robots for a nuclear power plant have been developed. But the developed underwater robots were so heavy and also they only had one function that is to inspect the nuclear reactor vessel. In this paper, an underwater robotic system is developed for inspecting the bottom of the nuclear reactor vessel, hot legs and cold legs of reactor coolant system and also for removing some particles in them.

  20. 46 CFR 3.10-1 - Procedures for designating oceanographic research vessels.

    Science.gov (United States)

    2010-10-01

    ... designating oceanographic research vessels. (a) Upon written request by the owner, master, or agent of a... duration. (2) For uninspected vessels—indicated by a letter of designation, which shall be maintained on... owner, master, or agent of the vessel shall advise the Officer in Charge, Marine Inspection who issued...

  1. Sea Education Association's sailing research vessels as innovative platforms for long-term research and education

    Science.gov (United States)

    Joyce, P.; Carruthers, E. A.; Engels, M.; Goodwin, D.; Lavender Law, K. L.; Lea, C.; Schell, J.; Siuda, A.; Witting, J.; Zettler, E.

    2012-12-01

    Sea Education Association's (SEA) two research vessels, the SSV Corwith Cramer and the SSV Robert C. Seamans are unique in the research world. Not only do these ships perform advanced research using state of the art equipment, they do so under sail with high school, undergraduate, and graduate students serving as both the science team and the crew. Because of SEA's educational mission and reliance on prevailing winds for sailing, the vessels have been studying repeated tracks for decades, providing valuable long-term data sets while educating future marine scientists. The Corwith Cramer has been collecting data in the North Atlantic between New England, the Sargasso Sea, Bermuda, and the Caribbean since 1987 while the Robert C. Seamans has been operating in the Eastern Pacific between the US West Coast, Hawaii, and French Polynesia since 2001. The ships collect continuous electronic data from hull mounted ADCP, chirp, and a clean flowing seawater system logging temperature, salinity, in-vivo chlorophyll and CDOM fluorescence, and beam attenuation. The ships also periodically collect data from profiling CTDs with chlorophyll and CDOM fluorometers, transmissometers, and dissolved oxygen and PAR sensors. In addition to electronic data, archived long term data sets include physical samples from net tows such as marine plastic debris and tar, and plankton including Halobates (a marine insect), leptocephali (eel larvae), and phyllosoma (spiny lobster larvae). Both vessels are 134' brigantine rig tall ships and are designated sailing school vessels (SSV) by the US Coast Guard, and both have received instrumentation grants from NSF to provide high quality, reliable data that is submitted to the NSF R2R archives. Students sailing on these ships spend time on shore at the SEA campus in Woods Hole, MA taking classes in oceanography, nautical science, maritime studies and public policy. Each student is required to write a proposal for their research before heading to sea, and

  2. Research progress and recommendations on reactor pressure vessel integrity under hypothetical core melt down accident

    International Nuclear Information System (INIS)

    Yao Yangui; Ning Dong; Wu Zhiwei; Cao Ming; Xie Yongcheng; He Yinbiao; Yao Weida

    2013-01-01

    Background: It is very important to ensure the integrity of the reactor pressure vessel under core melt down accident. The high-temperature creep failure is the main failure mode of the reactor pressure vessel under core melt down accident. Purpose: This paper is to present an overview of research status and progress on high-temperature creep behavior of reactor pressure vessel considering the hypothetical core melt down scenario. Methods: Emphasis is placed on accomplished achievements in creep tests, scale model experiments and numerical simulation, and the domestic newly research productions on high-temperature creep behavior of reactor pressure vessel structure integrity. Conclusions: This paper also discusses the limitations of existing researches and indicates future research directions, such as multi-axis tensile tests, analysis of three-dimensional coupling temperature field, scaled model tests, and so on. (authors)

  3. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  4. The underwater acoustic environment at SGaan Kinghlas-Bowie Seamount Marine Protected Area: Characterizing vessel traffic and associated noise using satellite AIS and acoustic datasets.

    Science.gov (United States)

    Allen, Ainsley S; Yurk, Harald; Vagle, Svein; Pilkington, James; Canessa, Rosaline

    2018-03-01

    Vessel traffic is one of the most wide-spread anthropogenic contributors to ocean noise worldwide and has the potential to alter ecosystems upon which cetaceans and other acoustically sensitive marine organisms rely. Canada's SGaan Kinghlas-Bowie Seamount Marine Protected Area (SK-B MPA) is one such area whose productive ecosystem could benefit from greater monitoring of human induced threats in order to inform management. Despite earning official designation as a Marine Protected Area under the Oceans Act in 2008, little remains known about vessel traffic in the region and the associated potential impacts on vulnerable marine species. Therefore, to increase our understanding of vessel traffic and accompanying noise at SK-B MPA, satellite AIS and acoustic data were investigated. The results of this study suggest that variations in ambient sound levels in the region are driven by near and distant shipping events, thus having implications for future management of the MPA. Copyright © 2018 Elsevier Ltd. All rights reserved.

  5. Experimental Research on the Dynamic Response of Floating Structures with Coatings Subjected to Underwater Explosion

    Directory of Open Access Journals (Sweden)

    Feng Xiao

    2014-01-01

    Full Text Available This paper presents an experimental investigation into the dynamic response of three free floating stiffened metal boxes with protective coatings subjected to underwater explosion (UNDEX. One box was kept intact while the other two were, respectively, covered with monolithic coatings and chiral honeycomb coatings. Three groups of live fire tests with different attack angles and stand-off distances were conducted. The acceleration on the stiffener and strain peak on the bottom hull were selected as the major comparative criterions. Test results show that the impulse transmitted to the structure at the initial stage can be reduced, owing to the coating flexibility and fluid-structure interaction mechanism. Consequently, the acceleration peaks induced by both shock wave and bubble pulse were reduced. The shock environment can be more effectively improved by honeycomb coating when compared with monolithic coating. Most of the strain peaks decreased to a certain extent, but some of them were notably manifested, especially for honeycomb coating. The test affirms the fact that soft coating can cause stress concentration on the shell that is in direct contact with the coating due to the impedance mismatch between the interfaces of materials. A softer rubber coating induces a greater magnitude of strain.

  6. Comprehensive research on sealing behaviour of reactor vessel of 300 MWe nuclear power plant

    International Nuclear Information System (INIS)

    Qu Jiadi; Sheng Xianke; Dou Yikang

    1989-11-01

    The general conception of a special research on sealing behaviour of PWR vessel is described and the major results centering on the establishment of sealing analysis program system and its experimental verification, along with the description on the development and measurement of sealing ring, the thermal sealing test and the relevant analysis are given. On the basis of the above approach, the vessel sealing behaviours of 300 MWe Qinshan Nuclear Power Plant are evaluated. A concept on the classification of pressure vessels and their sealing criteria are proposed. Two viewpoints on the analysis are suggested, which are that the vessel sealing deformation analysis should be regarded as a basis of the general stress analysis and that bolt loading increment caused by the bolt temperature lag should be taken as a key point when considering the thermo-contact coupling in transient sealing analysis. The understanding about the sealing mechanism are expounded and the thermal equivalent of hydrostatic test is discussed

  7. Concept of a nuclear powered submersible research vessel and a compact reactor

    International Nuclear Information System (INIS)

    Kusunoki, Tsuyoshi; Odano, Naoteru; Yoritsune, Tsutomu; Ishida, Toshihisa; Nishimura, Hajime; Tokunaga, Sango

    2001-07-01

    A conceptual design study of a submersible research vessel navigating in 600 m depth and a compact nuclear reactor were carried out for the expansion of the nuclear power utilization. The mission of the vessel is the research of mechanism of the climate change to predict the global environment. Through conditions of the Arctic Ocean and the sea at high latitude have significant impacts on the global environmental change, it is difficult to investigate those areas by ordinary ships because of thick ice or storm. Therefore the research vessel is mainly utilized in the Arctic Ocean and the sea at high latitude. By taking account of the research mission, the basic specifications of the vessel are decided; the total weight is 500 t, the submersible depth is 600 m, the maximum speed is 12 knots (22.2 km/h), and the number of crews is 16. Nuclear power has an advantage in supplying large power of electricity in the sea for long period. Based on the requirements, it has been decided that two sets of submersible compact reactor, SCR, which is light-weighted and of enhanced safety characteristics of supply the total electricity of 500 kW. (author)

  8. Lumped thermal capacitance analysis of transient heat conduction and induced stresses in Ghana Research Reactor vessel

    International Nuclear Information System (INIS)

    Annor-Nyarko, M.; Ayensu Gyeabour, I.; Akaho, E. H. K.

    2013-01-01

    Lumped thermal capacitance analysis has been undertaken to investigate the transient temperature variations, associated induced thermal stress distributions, and the structural integrity of Ghana Research Reactor-I (GHAR R-I) vessel after 15 years of operation. The beltline configuration of the cylindrical vessel of the Miniature Neutron Source Reactor (MNSR) was based on thin-shell and axi-symmetric assumptions with small temperature gradient and low Biot number. The thermal energy transferred by unsteady flow of the coolant to the vessel was determined as internal energy change. Numerical algorithms for Matlab Code were implemented to generate data for transient analysis and simulation. The simulations indicated that the temperature variations and the thermal stresses were below the limits imposed by the vessel material (Aluminium alloy LT 21) specifications of 933 K melting point and allowable yield stress of 480 MPa. The low level of induced thermal stresses indicated that the structural integrity of the reactor vessel has been maintained to forestall any incidence of crack propagation and fatigue failure over the operation period. (au)

  9. Research on Manufacture and Quality Control of Medium Carbon Vessels for Resistance to Hydrogen Induced Cracking

    Science.gov (United States)

    Xinyu, Zhao; Yang, Zou; Yang, Liu; Nan, Zhao; Yanqiu, Fan; Liye, Qin; Yanchun, Lv

    With the exploitation of gas mixed with sulfur, the requirement of hydrogen induced cracking (HIC) resistance for medium carbon vessels serving at environmental with hydrogen sulfide solution become more rigorous. Through the research on HIC, the formation reasons of those are: MnS inclusions, Al2O3 inclusions, P segregation, Bainites and Macro segregation of slab. Thus if these parameters are controlled appropriately, the qualified medium carbon vessels for resistance to HIC steel will be produced. The conclusions are following: the controlled measurements to cleanliness on liquid steel, macro segregation controlled on slab, large reduction at rolling and normalizing are used to produce the HIC resistance vessels. The properties of tensile strength and low temperature impact meet the standard properly. Meanwhile there aren't hydrogen induced cracking found in any samples.

  10. Underwater Noise Pollution at the Strait of Istanbul (Bosphorus

    Directory of Open Access Journals (Sweden)

    Cem Gazioğlu

    2016-12-01

    Full Text Available Underwater noise pollution (UNP has become a major concern in marine habitats, which is intense anthropogenic noise in the marine (aquatic environment. It is caused by ship traffic, oceanographic experiments, and use of explosives in geophysical research, underwater construction, active sonars and seismic survey techniques. Oceans are much nosier than 1960s. Narrow and shallow channel noisy aquatic environments where noise levels reach the highest value is not surprising. The Strait of Istanbul (SoI; Bosphorus is one of the most important maritime passages (app. 50 000 vessel/year or 140 vessel/day which is situated between the Black Sea and the Aegean Sea are also biologically extremely important gateway not only it provides access to a channel. Many of the varieties of fish migration hunting value are realized through the TSS. Local maritime traffic is another important acoustic sources which are more than 3 000 elements (Kesgin and Vardar, 2001 of everyday local traffic in SoI, which are causing noise in the 2 and 10 kHz range. Large vessels create signals both in bands below 1 kHz (main engine, electrical instruments cavitation noise creates higher frequency bands. Almost all elements of marine traffic in SoI located therefore encountered UND in all bands.

  11. Underwater manipulator

    Science.gov (United States)

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  12. Underwater manipulator

    International Nuclear Information System (INIS)

    Schrum, P.B.; Cohen, G.H.

    1993-01-01

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer ±45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer ±10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion

  13. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

    Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.

  14. SERDP/Office of Naval Research Workshop on Acoustic Detection and Classification of UXO in the Underwater Environment

    Science.gov (United States)

    2013-09-01

    attached to the item by divers. In other, more sensitive environments, intentional detonations would cause unacceptable harm to nearby flora and fauna and...Underwater Environment 32 Sept. 2013 generation of sidescan and multibeam sonars that operate at Mega -Hertz (MHz) frequencies to image small, proud UXO

  15. Reactor pressure vessel steels[1997 Scientific Report of the Belgian Nuclear Research Centre

    Energy Technology Data Exchange (ETDEWEB)

    Van De Velde, J.; Fabry, A.; Van Walle, E.; Chaouuadi, R.

    1998-07-01

    Research and development activities related to reactor pressure vessel steels during 1997 are reported. The objectives of activities of the Belgian Nuclear Research Centre SCK/CEN in this domain are: (1) to develop enhanced surveillance concepts by applying micromechanics and fracture-toughness tests to small specimens, and by performing damage modelling and microstructure characterization; (2) to demonstrate a methodology on a broad database; (3) to achieve regulatory acceptance and industrial use.

  16. Underwater research methods for study of nuclear bomb craters, Enewetak, Marshall Islands

    Science.gov (United States)

    Shinn, E.A.; Halley, R.B.; Kindinger, J.L.; Hudson, J.H.; Slate, R.A.

    1990-01-01

    Three craters, created by the explosion of nuclear fusion devices, were mapped, sampled, core drilled and excavated with airlifts at Enewetak Atoll in the Marshall Islands by using scuba and a research submersible. The craters studied were Mike, Oak, and Koa. Tests took place near sea level at the transition between lithified reef flat and unlithified lagoonal sediments, where water depth ranged from 1 to 4 m. Craters produced by the blasts ranged from 30 to 60 m in depth. The purpose of our study was to determine crater diameter and depth immediately after detonation. Observations of submerged roadways and testing structures and upturned crater rims similar to those characteristic of meteor impacts indicate that the initial, or transient, craters were smaller than their present size. At some later time, while the area was too radioactive for direct examination, the sides of the craters slumped owing to dewatering of under lying pulverized rock. Core drilling of crater margins with a diver-operated hydraulic coring device provided additional data. On the seaward margin of the atoll, opposite Mike, a large portion of the atoll rim approximately the size of a city block had slumped into the deep ocean, leaving a clean vertical rock section more than 400m high. An abundance of aggressive grey reef sharks displaying classic territorial behavior prevented use of scuba at the Mike slump site. The two-person submersible R.V. Delta provided protection and allowed observations down to 300 m. During the 6-week period of study, we made more than 300 scuba and 275 submersible dives. Mapping was with side scan sonar and continuous video sweeps supplemented by tape-recorded verbal descriptions made from within the submersible. A mini-ranger navigation system linked to the submersible allowed plotting of bottom features, depth and sediment type with spatial accuracy to within 2 m.

  17. Underwater Sound Reference Division

    Data.gov (United States)

    Federal Laboratory Consortium — The Underwater Sound Reference Division (USRD) serves as the U.S. standardizing activity in the area of underwater acoustic measurements, as the National Institute...

  18. An innovative methodology for the transmission of information, using Sensor Web Enablement, from ongoing research vessels.

    Science.gov (United States)

    Sorribas, Jordi; Sinquin, Jean Marc; Diviacco, Paolo; De Cauwer, Karien; Danobeitia, Juanjo; Olive, Joan; Bermudez, Luis

    2013-04-01

    Research vessels are sophisticated laboratories with complex data acquisition systems for a variety of instruments and sensors that acquire real-time information of many different parameters and disciplines. The overall data and metadata acquired commonly spread using well-established standards for data centers; however, the instruments and systems on board are not always well described and it may miss significant information. Thus, important information such as instrument calibration or operational data often does not reach to the data center. The OGC Sensor Web Enablement standards provide solutions to serve complex data along with the detailed description of the process used to obtain them. We show an innovative methodology on how to use Sensor Web Enablement standards to describe and serve information from the research vessels, the data acquisition systems used onboard, and data sets resulting from the onboard work. This methodology is designed to be used in research vessels, but also applies to data centers to avoid loss of information in between The proposed solution considers (I) the difficulty to describe a multidisciplinary and complex mobile sensor system, (II) it can be easily integrated with data acquisition systems onboard, (III) it uses the complex and incomplete typical vocabulary in marine disciplines, (IV) it provides contacts with the data and metadata services at the Data Centers, and (V) it manages the configuration changes with time of the instrument.

  19. Flow around an autonomous underwater vehicle with bio-inspired coating

    Science.gov (United States)

    Watkins, Scott; Montoya-Segnini, Jose; Bocanegra Evans, Humberto; Curet, Oscar; Gorumlu, Serdar; Aksak, Burak; Kazemi, Amirkhosro; Chamorro, Leonardo; Castillo, Luciano

    2017-11-01

    Flow separation plays a major factor in the form drag of a moving object. In particular, suppressing or reducing flow separation is critical in the energy expenditure of autonomous underwater vehicles. Previous research suggests that bio-inspired micro-fibrillar structures are capable of reducing the boundary layer separation in a turbulent flow. Here, we present laboratory measurements using PIV near the wall and in the wake of two submersible vessel models; one had a coating composed of ordered fibers, and the other had smooth walls. Flow characterization with planar PIV included the presence or absence of a tail fin at multiple angles of attack of the vessels. Preliminary results reveal changes of the flow in the wake of the vessel with coating resulting in lower or similar velocity deficit in the wake compared to the smooth vessel.

  20. Underwater Sediment Sampling Research

    Science.gov (United States)

    2017-01-01

    Hanson, et al . Public | January 2017 5 REFERENCES Dollhopf, Ralph H, Faith A Fitzpatrick, Jeffery W. Kimble, Daniel M. Capone , Thomas P. Graan, Ronald...UNCLAS//Public | CG-926 RDC | A. Hanson, et al . Public | January 2017 N O T I C E This document is disseminated under the sponsorship of...Hanson, et al . Public | January 2017 Technical Report Documentation Page 1. Report No. CG-D-04-17 2. Government Accession Number 3. Recipient’s

  1. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

    Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.

    1993-01-01

    In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs

  2. A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

    OpenAIRE

    Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua

    2015-01-01

    Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...

  3. Measurement and flow visualization research of thermal hydraulic characteristics for the SFR reactor Vessel

    International Nuclear Information System (INIS)

    Cha, J. E.; Kim, S. O.; Choi, H. L.; Kim, H. B.; Kim, H. W.; Lee, S. H.

    2012-01-01

    In this report, the thermal hydraulic and flow visualization experiment was described for the KALIMER-600 water-scaled model. In order to investigate a thermal hydraulic characteristics for the SFR KALIMER-600, which has been conceptually designed in the KAERI, a water-scaled 1/10 reactor vessel model was designed and prepared through the scaling analysis during three-years research. In this research, SFR Photos system, which has inherently very complicated the internal structures, was fabricated with a transparent vessel. It was shown that a serious of thermal hydraulic test was conducted within a short period if modeled with water than sodium. Natural circulation test was successfully performed with the modeled heater assembly and heat exchanger system coupled with cooling system. The water-scaled RSV experimental facility made in this research could be used to study the USA development for the future SFR system and utilized to analyze the flow characteristics before changing a main internal part of Photos system. It could also be used to test a pool-inspection study and a sensor selection study before large scale sodium experiment. The PCV system prepared in this research could be utilized to test other TSH experiment and temperature field measurement

  4. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  5. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

    2015-01-01

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system

  6. Design and implementation of an underwater sound recording device

    Energy Technology Data Exchange (ETDEWEB)

    Martinez, Jayson J.; Myers, Joshua R.; Carlson, Thomas J.; Deng, Zhiqun; Rohrer, John S.; Caviggia, Kurt A.

    2011-09-19

    The purpose of this study was to design and build two versions of an underwater sound recording device. The device designed is referred to as the Underwater Sound Recorder (USR), which can be connected to one or two hydrophones or other underwater sound sensors. The URS contains a 26 dB preamplifier and a user selectable gain that permits additional amplification of input to the system from 26 dB to 46 dB. Signals within the frequency range up to 15 kHz may be recorded using the USR. Examples of USR applications are monitoring underwater processes that have the potential to create large pressure waves that could potentially harm fish or other aquatic life, such as underwater explosions or pile driving. Additional applications are recording sound generated by vessels or the vocalizations of some marine mammals, such as the calls from many species of whales.

  7. CTD Data from Research Vessel New Horizon in the NE Pacific, 24 April - 01 May 2014 (NCEI Accession 0157699)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Two consecutive expeditions by research vessel New Horizon in April/May 2014 (NH1408 and NH1409) had the objective to recover and re-deploy a number of moored...

  8. CTD Data from Research Vessel New Horizon in the NE Pacific, 15-20 December 2009 (NCEI Accession 0156689)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The expedition by research vessel New Horizon from 15 to 20 December 2009 had the objective to recover and re-deploy a number of moored platforms off southern...

  9. Data Collected in 1959 by English Research Vessels at Serial and Surface Hydrographic Stations (NODC Accession 6900852)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The present volume contains data collected in 1959 by English research vessels at serial and surface hydrographic stations. The data list are preceded by a number of...

  10. Human responses to wave slamming vibration on a polar supply and research vessel.

    Science.gov (United States)

    Omer, H; Bekker, A

    2018-02-01

    A polar supply and research vessel is pre-disposed to wave slamming which has caused complaints among crew and researchers regarding interference with sleep, equipment use and research activities. The present work undertook to survey passenger claims of sleep interference, disturbed motor tasks and equipment damage as a result of wave slamming during normal operations of this vessel. The hypothesis was investigated that whole-body vibration metrics from ISO 2631-1 are potentially suitable for the prediction of human slamming complaints. Full-scale acceleration measurements were performed and wave slamming events were subsequently identified from the human weighted acceleration time histories. A daily diary survey was also conducted to gather the human response. The vibration caused by wave slamming was found to be strongly correlated with sleep disturbances and activity interference. Sleep and equipment use were found to be the most affected parameters by slamming. Daily vibration dose values were determined by accumulating the vibration as a result of slamming over 24 h periods. This metric accounted for increased magnitudes and frequency of slamming incidents and proved to be the best metric to represent human responses to slamming vibration. The greatest percentage of activities affected by slamming related to sleep regardless of daily cumulative VDV magnitude. More than 50% of the recorded responses related to sleep when the daily cumulative VDV ranged between 8.0 m/s 1.75 -10.0 m/s 1.75 . The peak vertical vibration levels recorded on the vessel reach magnitudes which are associated with sleep disturbance in environments where acoustic noise is present. Copyright © 2017 Elsevier Ltd. All rights reserved.

  11. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

    These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.

  12. Research on release rate of volatile organic compounds in typical vessel cabin

    Directory of Open Access Journals (Sweden)

    ZHANG Jinlan

    2018-02-01

    Full Text Available [Objectives] Volatile Organic Compounds (VOC should be efficiently controlled in vessel cabins to ensure the crew's health and navigation safety. As an important parameter, research on release rate of VOCs in cabins is required. [Methods] This paper develops a method to investigate this parameter of a ship's cabin based on methods used in other closed indoor environments. A typical vessel cabin is sampled with Tenax TA tubes and analyzed by Automated Thermal Desorption-Gas Chromatography-Mass Spectrometry (ATD-GC/MS. The lumped mode is used and the release rate of Benzene, Toluene, Ethylbenzene and Xylene (BTEX, the typical representatives of VOCs, is obtained both in closed and ventilated conditions. [Results] The results show that the content of xylene and Total Volatile Organic Compounds (TVOC exceed the indoor environment standards in ventilated conditions. The BTEX release rate is similar in both conditions except for the benzene. [Conclusions] This research builds a method to measure the release rate of VOCs, providing references for pollution character evaluation and ventilation and purification system design.

  13. Underwater Geotechnical Foundations

    National Research Council Canada - National Science Library

    Lee, Landris

    2001-01-01

    This report provides an overview and description of the design and construction of underwater geotechnical foundations and offers preliminary guidance based on past and current technology applications...

  14. Sea surface temperature and salinity from French research vessels, 2001-2013

    Science.gov (United States)

    Gaillard, Fabienne; Diverres, Denis; Jacquin, Stéphane; Gouriou, Yves; Grelet, Jacques; Le Menn, Marc; Tassel, Joelle; Reverdin, Gilles

    2015-10-01

    French Research vessels have been collecting thermo-salinometer (TSG) data since 1999 to contribute to the Global Ocean Surface Underway Data (GOSUD) programme. The instruments are regularly calibrated and continuously monitored. Water samples are taken on a daily basis by the crew and later analysed in the laboratory. We present here the delayed mode processing of the 2001-2013 dataset and an overview of the resulting quality. Salinity measurement error was a few hundredths of a unit or less on the practical salinity scale (PSS), due to careful calibration and instrument maintenance, complemented with a rigorous adjustment on water samples. In a global comparison, these data show excellent agreement with an ARGO-based salinity gridded product. The Sea Surface Salinity and Temperature from French REsearch SHips (SSST-FRESH) dataset is very valuable for the ‘calibration and validation’ of the new satellite observations delivered by the Soil Moisture and Ocean Salinity (SMOS) and Aquarius missions.

  15. Research towards ultrasonic systems to assist in-vessel manipulations in liquid metal cooled reactors

    International Nuclear Information System (INIS)

    Dierckx, Marc; Van-Dyck, Dries

    2013-06-01

    We describe the state of the art of the research towards ultrasonic measurement methods for use in lead-bismuth cooled liquid metal reactors. Our current research activities are highly focused on specific tasks in the MYRRHA system, which is a fast spectrum research reactor cooled with the eutectic mixture of lead and bismuth (LBE) and is conceived as an accelerator driven system capable of operating in both sub-critical and critical mode. As liquid metal is opaque to light, normal visual feedback during fuel manipulations in the reactor vessel is not available and must therefore be replaced by a system that is not hindered by the opacity of the coolant. In this respect ultrasonic measurement techniques have been proposed and even developed in the past for operation in sodium cooled reactors. To our knowledge, no such systems have ever been deployed in lead based reactors and we are the first to have a research program in this direction as will be detailed in this paper. We give an overview of the acoustic properties of LBE and compare them with the properties of sodium and water to theoretically show the feasibility of ultrasonic systems operating in LBE. In the second part of the paper we discuss the results of the validation experiments in water and LBE. A typical scene is ultrasonically probed by a mechanical scanning system while the signals are processed to render a 3D visualization on a computer screen. It will become clear that mechanical scanning is capable of producing acceptable images but that it is a time consuming process that is not fit to solve the initial task to providing feedback during manipulations in the reactor vessel. That is why we propose to use several dedicated ultrasonic systems each adapted to a specific task and capable to provide real-time feedback of the ongoing manipulations, as is detailed in the third and final part of the paper. (authors)

  16. Mini neutron monitor measurements at the Neumayer III station and on the German research vessel Polarstern

    Science.gov (United States)

    Heber, B.; Galsdorf, D.; Herbst, K.; Gieseler, J.; Labrenz, J.; Schwerdt, C.; Walter, M.; Benadé, G.; Fuchs, R.; Krüger, H.; Moraal, H.

    2015-08-01

    Neutron monitors (NMs) are ground-based devices to measure the variation of cosmic ray intensities, and although being reliable they have two disadvantages: their size as well as their weight. As consequence, [1] suggested the development of a portable, and thus much smaller and lighter, calibration neutron monitor that can be carried to any existing station around the world [see 2; 3]. But this mini neutron monitor, moreover, can also be installed as an autonomous station at any location that provides ’’office” conditions such as a) temperatures within the range of around 0 to less than 40 degree C as well as b) internet and c) power supply. However, the best location is when the material above the NM is minimized. In 2011 a mini Neutron Monitor was installed at the Neumayer III station in Antarctica as well as the German research vessel Polarstern, providing scientific data since January 2014 and October 2012, respectively. The Polarstern, which is in the possession of the Federal Republic of Germany represented by the Ministry of Education and Research and operated by the Alfred Wegener Institute, Helmholtz Centre for Polar and Marine Research and managed by the shipping company Laeisz, was specially designed for working in the polar seas and is currently one of the most sophisticated polar research vessels worldwide. It spends almost 310 days a year at sea usually being located in the waters of Antarctica between November and March while spending the northern summer months in Arctic waters. Therefore, the vessel scans the rigidity range below the atmospheric threshold and above 10 GV twice a year. In contrast to spacecraft measurements NM data are influenced by variations of the geomagnetic field as well as the atmospheric conditions. Thus, in order to interpret the data a detailed knowledge of the instrument sensitivity with geomagnetic latitude (rigidity) and atmospheric pressure is essential. In order to determine the atmospheric response data from the

  17. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  18. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  19. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

    Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

    2017-10-01

    Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

  20. A miniature research vessel: A small-scale ocean-exploration demonstration of geophysical methods

    Science.gov (United States)

    Howell, S. M.; Boston, B.; Sleeper, J. D.; Cameron, M. E.; Togia, H.; Anderson, A.; Sigurdardottir, T. D.; Tree, J. P.

    2015-12-01

    Graduate student members of the University of Hawaii Geophysical Society have designed a small-scale model research vessel (R/V) that uses sonar to create 3D maps of a model seafloor in real-time. A pilot project was presented to the public at the School of Ocean and Earth Science and Technology's (SOEST) Biennial Open House weekend in 2013 and, with financial support from the Society of Exploration Geophysicists and National Science Foundation, was developed into a full exhibit for the same event in 2015. Nearly 8,000 people attended the two-day event, including children and teachers from Hawaii's schools, home school students, community groups, families, and science enthusiasts. Our exhibit demonstrates real-time sonar mapping of a cardboard volcano using a toy size research vessel on a programmable 2-dimensional model ship track suspended above a model seafloor. Ship waypoints were wirelessly sent from a Windows Surface tablet to a large-touchscreen PC that controlled the exhibit. Sound wave travel times were recorded using an ultrasonic emitter/receiver attached to an Arduino microcontroller platform and streamed through a USB connection to the control PC running MatLab, where a 3D model was updated as the ship collected data. Our exhibit demonstrates the practical use of complicated concepts, like wave physics, survey design, and data processing in a way that the youngest elementary students are able to understand. It provides an accessible avenue to learn about sonar mapping, and could easily be adapted to talk about bat and marine mammal echolocation by replacing the model ship and volcano. The exhibit received an overwhelmingly positive response from attendees and incited discussions that covered a broad range of earth science topics.

  1. A Dataset of Deep-Sea Fishes Surveyed by Research Vessels in the Waters around Taiwan

    Directory of Open Access Journals (Sweden)

    Kwang-Tsao Shao

    2014-12-01

    Full Text Available The study of deep-sea fish fauna is hampered by a lack of data due to the difficulty and high cost incurred in its surveys and collections. Taiwan is situated along the edge of the Eurasia fig, at the junction of three Large Marine Ecosystems or Ecoregions of the East China Sea, South China Sea and the Philippines. As nearly two-thirds of its surrounding marine ecosystems are deep-sea environments, Taiwan is expected to hold a rich diversity of deep-sea fish. However, in the past, no research vessels were employed to collect fish data on site. Only specimens, caught by bottom trawl fishing in the waters hundreds of meters deep and missing precise locality information, were collected from Dasi and Donggang fishing harbors. Began in 2001, with the support of National Science Council, research vessels were made available to take on the task of systematically collecting deep-sea fish specimens and occurrence records in the waters surrounding Taiwan. By the end of 2006, a total of 3,653 specimens, belonging to 26 orders, 88 families, 198 genera and 366 species, were collected in addition to data such as sampling site geographical coordinates and water depth, and fish body length and weight. The information, all accessible from the “Database of Taiwan’s Deep-Sea Fauna and Its Distribution (http://deepsea.biodiv.tw/” as part of the “Fish Database of Taiwan,” can benefit the study of temporal and spatial changes in distribution and abundance of fish fauna in the context of global deep-sea biodiversity.

  2. Delay Tolerance in Underwater Wireless Communications: A Routing Perspective

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

    Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.

  3. Underwater gait analysis in Parkinson's disease.

    Science.gov (United States)

    Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi

    2017-02-01

    Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability. Crown Copyright © 2016. Published by Elsevier B.V. All rights reserved.

  4. Next Generation Nuclear Plant Reactor Pressure Vessel Materials Research and Development Plan (PLN-2803)

    Energy Technology Data Exchange (ETDEWEB)

    J. K. Wright; R. N. Wright

    2010-07-01

    The U.S. Department of Energy (DOE) has selected the High-Temperature Gas-cooled Reactor (HTGR) design for the Next Generation Nuclear Plant (NGNP) Project. The NGNP will demonstrate the use of nuclear power for electricity and hydrogen production, with an outlet gas temperature in the range of 750°C, and a design service life of 60 years. The reactor design will be a graphite-moderated, helium-cooled, prismatic, or pebble bed reactor and use low-enriched uranium, Tri-Isotopic (TRISO)-coated fuel. The plant size, reactor thermal power, and core configuration will ensure passive decay heat removal without fuel damage or radioactive material releases during accidents. Selection of the technology and design configuration for the NGNP must consider both the cost and risk profiles to ensure that the demonstration plant establishes a sound foundation for future commercial deployments. The NGNP challenge is to achieve a significant advancement in nuclear technology while setting the stage for an economically viable deployment of the new technology in the commercial sector soon after 2020. This technology development plan details the additional research and development (R&D) required to design and license the NGNP RPV, assuming that A 508/A 533 is the material of construction. The majority of additional information that is required is related to long-term aging behavior at NGNP vessel temperatures, which are somewhat above those commonly encountered in the existing database from LWR experience. Additional data are also required for the anticipated NGNP environment. An assessment of required R&D for a Grade 91 vessel has been retained from the first revision of the R&D plan in Appendix B in somewhat less detail. Considerably more development is required for this steel compared to A 508/A 533 including additional irradiation testing for expected NGNP operating temperatures, high-temperature mechanical properties, and extensive studies of long-term microstructural stability.

  5. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

    Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...

  6. International Conference on Underwater Environment

    CERN Document Server

    Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick

    2016-01-01

    This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...

  7. HullBUG Technology Development for Underwater Hull Cleaning

    Science.gov (United States)

    2015-05-14

    period an effort was also made to estimate the cost of a reasonably simple test device that consists of a motor, bearing support and underwater...planned for use at that facility. FIT Test Vehicle Successful operation of the HullBUG system on the sailing vessel Adele was performed in

  8. QFD-ANP Approach for the Conceptual Design of Research Vessels: A Case Study

    Science.gov (United States)

    Venkata Subbaiah, Kambagowni; Yeshwanth Sai, Koneru; Suresh, Challa

    2016-10-01

    Conceptual design is a subset of concept art wherein a new idea of product is created instead of a visual representation which would directly be used in a final product. The purpose is to understand the needs of conceptual design which are being used in engineering designs and to clarify the current conceptual design practice. Quality function deployment (QFD) is a customer oriented design approach for developing new or improved products and services to enhance customer satisfaction. House of quality (HOQ) has been traditionally used as planning tool of QFD which translates customer requirements (CRs) into design requirements (DRs). Factor analysis is carried out in order to reduce the CR portions of HOQ. The analytical hierarchical process is employed to obtain the priority ratings of CR's which are used in constructing HOQ. This paper mainly discusses about the conceptual design of an oceanographic research vessel using analytical network process (ANP) technique. Finally the QFD-ANP integrated methodology helps to establish the importance ratings of DRs.

  9. Neutronic study of SCR core for under-sea scientific research vessel

    Energy Technology Data Exchange (ETDEWEB)

    Odano, Naoteru; Ishida, Toshihisa [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Wada, Koji; Imai, Hiroshi [Hitachi Engineering Co., Ltd., Hitachi, Ibaraki (Japan)

    2001-07-01

    A very small reactor, SCR (Submersible Compact Reactor), whose thermal output is 1250 kW, is an integral-pressurized type reactor to be used as a power source for a scientific research vessel in medium region to approximately 300-m in depth of the Arctic Ocean. Neutronic study has been carried out for design of the SCR core of which could achieve continuous long-term operation without refueling for 10 years considering 50% of load factor of the core. In the present study, arrangement of fuel rods, {sup 235}U enrichment of UO{sub 2} fuel rods and reflector materials were surveyed. The {sup 235}U enrichment has been determined to be 9.5 wt% to satisfy design criteria. Design of the reflector as well as that of the fuel enrichment is one of important factors for determination of the core life because leakage of neutrons from a very small reactor is large. In the present study Be metal was adopted as a reflector material. The square and triangle arrangements of fuel rods were studied and the later one was adopted for the present design to make possible to reduce size of the core. Reactor physics parameters including reactivity coefficients and power distributions were evaluated for the determined core specifications. Reactor physics parameters related to core safety were also confirmed and the evaluated parameters indicated that the determined core specifications in this study satisfied design conditions. (author)

  10. Research Reactor MZFR, Karlsruhe, Germany Under Water Thermal Cutting of the Moderator Vessel and of the Thermal Shield

    International Nuclear Information System (INIS)

    Loeb, A.; Eisenmann, B.; Prechtl, E.

    2006-01-01

    This paper presents the segmentation of the moderator vessel and of the thermal shield of the MZFR research reactor by means of under water plasma and contact arc metal cutting. The moderator vessel and the thermal shield are the most essential parts of the reactor vessel internals. These components have been segmented in 2005 by means of remotely controlled under water cutting utilizing a special manipulator system, a plasma torch and CAMC (Contact Arc Metal Cutting) as cutting tools. The engineered equipment used is a highly advanced design developed in a two years R and D program. It was qualified to cut through steel walls of more than 100 mm thickness in 8 meters water depth. Both the moderator vessel and the thermal shield had to be cut into such size that the segments could afterwards be packed into shielded waste containers each with a volume of roughly 1 m 3 . Segmentation of the moderator vessel and of the thermal shield was performed within 15 months. (authors)

  11. The influence of fire exposure on austenitic stainless steel for pressure vessel fitness-for-service assessment: Experimental research

    Science.gov (United States)

    Li, Bo; Shu, Wenhua; Zuo, Yantian

    2017-04-01

    The austenitic stainless steels are widely applied to pressure vessel manufacturing. The fire accident risk exists in almost all the industrial chemical plants. It is necessary to make safety evaluation on the chemical equipment including pressure vessels after fire. Therefore, the present research was conducted on the influences of fire exposure testing under different thermal conditions on the mechanical performance evolution of S30408 austenitic stainless steel for pressure vessel equipment. The metallurgical analysis described typical appearances in micro-structure observed in the material suffered by fire exposure. Moreover, the quantitative degradation of mechanical properties was investigated. The material thermal degradation mechanism and fitness-for-service assessment process of fire damage were further discussed.

  12. TMA Vessel Segmentation Based on Color and Morphological Features: Application to Angiogenesis Research

    Science.gov (United States)

    Fernández-Carrobles, M. Milagro; Tadeo, Irene; Bueno, Gloria; Noguera, Rosa; Déniz, Oscar; Salido, Jesús; García-Rojo, Marcial

    2013-01-01

    Given that angiogenesis and lymphangiogenesis are strongly related to prognosis in neoplastic and other pathologies and that many methods exist that provide different results, we aim to construct a morphometric tool allowing us to measure different aspects of the shape and size of vascular vessels in a complete and accurate way. The developed tool presented is based on vessel closing which is an essential property to properly characterize the size and the shape of vascular and lymphatic vessels. The method is fast and accurate improving existing tools for angiogenesis analysis. The tool also improves the accuracy of vascular density measurements, since the set of endothelial cells forming a vessel is considered as a single object. PMID:24489494

  13. Overview of research trends and problems on Cr-Mo low alloy steels for pressure vessel

    International Nuclear Information System (INIS)

    Chi, Byung Ha; Kim, Jeong Tae

    2000-01-01

    Cr-Mo low alloy steels have been used for a long time for pressure vessel due to its excellent corrosion resistance, high temperature strength and toughness. The paper reviewed the latest trends on material development and some problems on Cr-Mo low alloy steel for pressure vessel, such as elevated temperature strength, hardenability, synergetic effect between temper and hydrogen embrittlement, hydrogen attack and hydrogen induced disbonding of overlay weld-cladding

  14. Truncated Hormone Inhibits Breast Tumor Blood Vessel Formation, Not Tumor Growth | Center for Cancer Research

    Science.gov (United States)

    The hormone prolactin (PRL) plays a critical role in normal breast development by stimulating the proliferation of mammary cells, the production of milk proteins, and the formation of new mammary blood vessels. Unfortunately, the same cell and vessel growth pathways controlled by PRL in normal cells also operate in breast cancer cells, and elevated plasma PRL is a risk factor for breast cancer, especially in post-menopausal women.

  15. Underwater cutting techniques developments

    International Nuclear Information System (INIS)

    Bach, F.-W.

    1990-01-01

    The primary circuit structures of different nuclear powerplants are constructed out of stainless steels, ferritic steels, plated ferritic steels and alloys of aluminium. According to the level of the specific radiation of these structures, it is necessary for dismantling to work with remote controlled cutting techniques. The most successful way to protect the working crew against exposure of radiation is to operate underwater in different depths. The following thermal cutting processes are more or less developed to work under water: For ferritic steels only - flame cutting; For ferritic steels, stainless steels, cladded steels and aluminium alloys - oxy-arc-cutting, arc-waterjet-cutting with a consumable electrode, arc-saw-cutting, plasma-arc-cutting and plasma-arc-saw. The flame cutting is a burning process, all the other processes are melt-cutting processes. This paper explains the different techniques, giving a short introduction of the theory, a discussion of the possibilities with the advantages and disadvantages of these processes giving a view into the further research work in this interesting field. (author)

  16. Green Arctic Patrol Vessel

    Science.gov (United States)

    2011-08-01

    Complement Flexible space for hovercraft , airboats, USVs and RHIBs Naval Surface Warfare Center Carderock Division Green Arctic Patrol Vessel 1...through Sea State 3 (SS3). Flexible capability for a variety of organic craft, such as boat, hovercraft and/or Unmanned Underwater Vehicles (UUVs...2.0, Finland 6.0 2.7 2.8 6 1.8 Hovercraft Griffon/500TD 8.04 3.92 2.41 99 5 ~1.5 Hovercraft Griffon/2000TD 12.7 6.1 3.93 450 20

  17. Neuroimaging standards for research into small vessel disease and its contribution to ageing and neurodegeneration.

    Science.gov (United States)

    Wardlaw, Joanna M; Smith, Eric E; Biessels, Geert J; Cordonnier, Charlotte; Fazekas, Franz; Frayne, Richard; Lindley, Richard I; O'Brien, John T; Barkhof, Frederik; Benavente, Oscar R; Black, Sandra E; Brayne, Carol; Breteler, Monique; Chabriat, Hugues; Decarli, Charles; de Leeuw, Frank-Erik; Doubal, Fergus; Duering, Marco; Fox, Nick C; Greenberg, Steven; Hachinski, Vladimir; Kilimann, Ingo; Mok, Vincent; Oostenbrugge, Robert van; Pantoni, Leonardo; Speck, Oliver; Stephan, Blossom C M; Teipel, Stefan; Viswanathan, Anand; Werring, David; Chen, Christopher; Smith, Colin; van Buchem, Mark; Norrving, Bo; Gorelick, Philip B; Dichgans, Martin

    2013-08-01

    Cerebral small vessel disease (SVD) is a common accompaniment of ageing. Features seen on neuroimaging include recent small subcortical infarcts, lacunes, white matter hyperintensities, perivascular spaces, microbleeds, and brain atrophy. SVD can present as a stroke or cognitive decline, or can have few or no symptoms. SVD frequently coexists with neurodegenerative disease, and can exacerbate cognitive deficits, physical disabilities, and other symptoms of neurodegeneration. Terminology and definitions for imaging the features of SVD vary widely, which is also true for protocols for image acquisition and image analysis. This lack of consistency hampers progress in identifying the contribution of SVD to the pathophysiology and clinical features of common neurodegenerative diseases. We are an international working group from the Centres of Excellence in Neurodegeneration. We completed a structured process to develop definitions and imaging standards for markers and consequences of SVD. We aimed to achieve the following: first, to provide a common advisory about terms and definitions for features visible on MRI; second, to suggest minimum standards for image acquisition and analysis; third, to agree on standards for scientific reporting of changes related to SVD on neuroimaging; and fourth, to review emerging imaging methods for detection and quantification of preclinical manifestations of SVD. Our findings and recommendations apply to research studies, and can be used in the clinical setting to standardise image interpretation, acquisition, and reporting. This Position Paper summarises the main outcomes of this international effort to provide the STandards for ReportIng Vascular changes on nEuroimaging (STRIVE). Copyright © 2013 Elsevier Ltd. All rights reserved.

  18. Vessel generator noise as a settlement cue for marine biofouling species.

    Science.gov (United States)

    McDonald, J I; Wilkens, S L; Stanley, J A; Jeffs, A G

    2014-01-01

    Underwater noise is increasing globally, largely due to increased vessel numbers and international ocean trade. Vessels are also a major vector for translocation of non-indigenous marine species which can have serious implications for biosecurity. The possibility that underwater noise from fishing vessels may promote settlement of biofouling on hulls was investigated for the ascidian Ciona intestinalis. Spatial differences in biofouling appear to be correlated with spatial differences in the intensity and frequency of the noise emitted by the vessel's generator. This correlation was confirmed in laboratory experiments where C. intestinalis larvae showed significantly faster settlement and metamorphosis when exposed to the underwater noise produced by the vessel generator. Larval survival rates were also significantly higher in treatments exposed to vessel generator noise. Enhanced settlement attributable to vessel generator noise may indicate that vessels not only provide a suitable fouling substratum, but vessels running generators may be attracting larvae and enhancing their survival and growth.

  19. Underwater and in-air sounds from a small hovercraft

    Science.gov (United States)

    Blackwell, Susanna B.; Greene, Charles R.

    2005-12-01

    Underwater and in-air recordings were made from a boat anchored near Prudhoe Bay, Alaska, while a Griffon 2000TD hovercraft drove by at or near full power on four passes. At the closest point of approach (CPA, 6.5 m), underwater broadband (10-10 000 Hz) levels reached 133 and 131 dB re: 1 μPa at depths of 1 and 7 m, respectively. In-air unweighted and A-weighted broadband (10-10 000 Hz) levels reached 104 and 97 dB re: 20 μPa, respectively. The hovercraft produced sound at a wide range of frequencies. Both underwater and in air, the largest spectral peak was near 87 Hz, which corresponded to the blade rate of the thrust propeller. In addition, the spectral composition included several harmonics of this frequency. The shaft or blade rate of the lift fan was barely detectable underwater despite its proximity to the water. The hovercraft was considerably quieter underwater than similar-sized conventional vessels and may be an attractive alternative when there is concern over underwater sounds.

  20. Reactor pressure vessel structural integrity research in the US Nuclear Regulatory Commission HSST and HSSI Programs

    International Nuclear Information System (INIS)

    Pennell, W.E.; Corwin, W.R.

    1994-01-01

    This report discusses development on the technology used to assess the safety of irradiation-embrittled nuclear reactor pressure vessels containing flaws. Fracture mechanics tests on reactor pressure vessel steel have shown that local brittle zones do not significantly degrade the material fracture toughness, constraint relaxation at the crack tip of shallow surface flaws results in increased fracture toughness, and biaxial loading reduces but does not eliminate the shallow-flaw fracture toughness elevation. Experimental irradiation investigations have shown that the irradiation-induced shift in Charpy V-notch versus temperature behavior may not be adequate to conservatively assess fracture toughness shifts due to embrittlement and the wide global variations of initial chemistry and fracture properties of a nominally uniform material within a pressure vessel may confound accurate integrity assessments that require baseline properties

  1. Visual-adaptation-mechanism based underwater object extraction

    Science.gov (United States)

    Chen, Zhe; Wang, Huibin; Xu, Lizhong; Shen, Jie

    2014-03-01

    Due to the major obstacles originating from the strong light absorption and scattering in a dynamic underwater environment, underwater optical information acquisition and processing suffer from effects such as limited range, non-uniform lighting, low contrast, and diminished colors, causing it to become the bottleneck for marine scientific research and projects. After studying and generalizing the underwater biological visual mechanism, we explore its advantages in light adaption which helps animals to precisely sense the underwater scene and recognize their prey or enemies. Then, aiming to transform the significant advantage of the visual adaptation mechanism into underwater computer vision tasks, a novel knowledge-based information weighting fusion model is established for underwater object extraction. With this bionic model, the dynamical adaptability is given to the underwater object extraction task, making them more robust to the variability of the optical properties in different environments. The capability of the proposed method to adapt to the underwater optical environments is shown, and its outperformance for the object extraction is demonstrated by comparison experiments.

  2. Vessel Operating Units (Vessels)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This data set contains data for vessels that are greater than five net tons and have a current US Coast Guard documentation number. Beginning in1979, the NMFS...

  3. Coupled Research in Ocean Acoustics and Signal Processing for the Next Generation of Underwater Acoustic Communication Systems

    Science.gov (United States)

    2016-08-05

    work comprised the final portion of the thesis research of MIT/WHOI Joint Program student, Atulya Yellepeddi and was motivated by the desire to exploit...achieve the specified improvements. Atulya successfully defended and submitted his PhD thesis in June. This work falls under Research Task 3 from...Section 2.2 of the Technical Approach and Justification . The second area of work is that of characterizing the performance of adaptive equalizers in order

  4. Swarm Underwater Acoustic 3D Localization: Kalman vs Monte Carlo

    Directory of Open Access Journals (Sweden)

    Sergio Taraglio

    2015-07-01

    Full Text Available Two three-dimensional localization algorithms for a swarm of underwater vehicles are presented. The first is grounded on an extended Kalman filter (EKF scheme used to fuse some proprioceptive data such as the vessel's speed and some exteroceptive measurements such as the time of flight (TOF sonar distance of the companion vessels. The second is a Monte Carlo particle filter localization processing the same sensory data suite. The results of several simulations using the two approaches are presented, with comparison. The case of a supporting surface vessel is also considered. An analysis of the robustness of the two approaches against some system parameters is given.

  5. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

    Liebschner, Alexander; Seibel, Henrike; Teilmann, Jonas; Wittekind, Dietrich; Parmentier, Eric; Dähne, Michael; Dietz, Rune; Driver, Jörg; Elk, van Cornelis; Everaarts, Eligius; Findeisen, Henning; Kristensen, Jacob; Lehnert, Kristina; Lucke, Klaus; Merck, Thomas; Müller, Sabine; Pawliczka, Iwona; Ronnenberg, Katrin; Rosenberger, Tanja; Ruser, Andreas; Tougaard, Jakob; Schuster, Max; Sundermeyer, Janne; Sveegaard, Signe; Siebert, Ursula

    2016-01-01

    The project conducts application-oriented research on impacts of underwater noise on marine vertebrates in the North and Baltic Seas. In distinct subprojects, the hearing sensitivity of harbor porpoises and gray seals as well as the acoustic tolerance limit of harbor porpoises to impulsive noise

  6. Research and Development of Automated Eddy Current Testing for Composite Overwrapped Pressure Vessels

    Science.gov (United States)

    Carver, Kyle L.; Saulsberry, Regor L.; Nichols, Charles T.; Spencer, Paul R.; Lucero, Ralph E.

    2012-01-01

    Eddy current testing (ET) was used to scan bare metallic liners used in the fabrication of composite overwrapped pressure vessels (COPVs) for flaws which could result in premature failure of the vessel. The main goal of the project was to make improvements in the areas of scan signal to noise ratio, sensitivity of flaw detection, and estimation of flaw dimensions. Scan settings were optimized resulting in an increased signal to noise ratio. Previously undiscovered flaw indications were observed and investigated. Threshold criteria were determined for the system software's flaw report and estimation of flaw dimensions were brought to an acceptable level of accuracy. Computer algorithms were written to import data for filtering and a numerical derivative filtering algorithm was evaluated.

  7. Short Communication Evaluation of an underwater biopsy probe for ...

    African Journals Online (AJOL)

    lethal methods may become an increasingly useful tool to investigate shark populations where researchers encounter logistical or conservation-related constraints. Keywords: biopsy probe, laser photogrammetry, non-lethal sampling, underwater ...

  8. Summary Report Panel 1: The Need for Protocols and Standards in Research on Underwater Noise Impacts on Marine Life.

    Science.gov (United States)

    Erbe, Christine; Ainslie, Michael A; de Jong, Christ A F; Racca, Roberto; Stocker, Michael

    2016-01-01

    As concern about anthropogenic noise and its impacts on marine fauna is increasing around the globe, data are being compared across populations, species, noise sources, geographic regions, and time. However, much of the raw and processed data are not comparable due to differences in measurement methodology, analysis and reporting, and a lack of metadata. Common protocols and more formal, international standards are needed to ensure the effectiveness of research, conservation, regulation and practice, and unambiguous communication of information and ideas. Developing standards takes time and effort, is largely driven by a few expert volunteers, and would benefit from stakeholders' contribution and support.

  9. CTD and Water Sample Data from Research Vessel Robert Gordon Sproul in the NE Pacific, 24 October 2013 (NCEI Accession 0157082)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The expedition by research vessel Robert Gordon Sproul from 23 to 25 October 2013 had the objective to recover a broken mooring from the CORC project (Consortium on...

  10. CTD and Water Sample Data from Research Vessel New Horizon in the NE Pacific, 19-22 September 2008 (NCEI Accession 0156931)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The expedition by research vessel New Horizon from 19 to 22 September 2008 had the objective to deploy a number of moored platforms for the CORC project (Consortium...

  11. Processed CTD and Water Sample Data from Research Vessel Ocean Starr in the NE Pacific, Aug. 31 and Sept. 01, 2012 (NCEI Accession 0156932)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The expedition by research vessel Ocean Starr on Aug. 31 and Sept. 01, 2012 had the objective to recover and re-deploy a number of moored platforms from the CORC...

  12. Processed CTD and Water Sample Data from Research Vessel Roger Revelle, Expedition RR1214, in the NE Pacific in November 2012 (NCEI Accession 0156228)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Expedition RR1214 by research vessel Roger Revelle was primarily a transit from French Polynesia to the US mainland. However, a small scientific program was...

  13. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

    "Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.

  14. Underwater laser detection system

    Science.gov (United States)

    Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.

    2015-02-01

    The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.

  15. Research and development on in-service inspection system for reactor vessel of FBR's

    International Nuclear Information System (INIS)

    Rindo, Hiroshi; Mitabe, Noriaki; Ara, Kuniaki; Nagai, Keiichi; Otaka, Masahiko

    1993-01-01

    In-Service Inspection (ISI) is required for main components and piping of FBRs. Visual test and volumetric examination of the reactor vessel (RV) from the outer surface are to be performed under severe conditions such as limited space, high temperature and high gamma dose rate during the reactor shutdown. Therefore, ISI should be performed by using a remote operation system, and the ISI system should be very compact. PNC has been developing the ISI system to apply to the RV inspection. Verification and performance tests of ISI system were carried out by use of the RV test model. This paper describes the system structure, system verification tests including operation and controlling the inspection robot, the functions of the visual test and the volumetric examination under the high temperature

  16. Underwater striling engine design with modified one-dimensional model

    OpenAIRE

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-01-01

    Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional mod...

  17. Analytical and Numerical Optimal Motion Planning for an Underwater Glider

    OpenAIRE

    Kraus, Robert J.

    2010-01-01

    The use of autonomous underwater vehicles (AUVs) for oceanic observation and research is becoming more common. Underwater gliders are a specific class of AUV that do not use conventional propulsion. Instead they change their buoyancy and center of mass location to control attitude and trajectory. The vehicles spend most of their time in long, steady glides, so even minor improvements in glide range can be magnified over multiple dives. This dissertation presents a rigid-body dynamic system...

  18. Development of in-vessel type control rod drive mechanism for a innovative small reactor (Contract research)

    Energy Technology Data Exchange (ETDEWEB)

    Yoritsune, Tsutomu; Ishida, Toshihisa [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    2003-03-01

    Although the control rod drive mechanism of an existing large scale light water reactor is generally installed outside the reactor vessel, an in-vessel type control rod drive mechanism (INV-CRDM) is installed inside the reactor vessel. The INV-CRDM contributes to compactness and simplicity of the reactor system, and it can eliminate the possibility of a rod ejection accident. Therefore, INV-CRDM is an important technology adopted in an innovative small reactor. Japan Atomic Energy Research Institute (JAERI) has developed this type of CRDM driven by an electric motor, which can work under high temperature and high pressure water for the advanced marine reactor. On the basis of this research result, a driving motor coil and a bearing were developed to be used under the high temperature steam, severe condition for an innovative small reactor. About the driving motor, we manufactured the driving motor available for high temperature steam and carried out performance test under room temperature atmosphere to confirm the electric characteristic and coolability of the driving coil. With these test results and the past test results under high temperature water, we analyzed and evaluated the electric performance and coolability of the driving coil under high temperature steam. Concerning bearing, we manufactured the test pieces using some candidate material for material characteristic test and carried out the rolling wear test under high temperature steam to select the material. Consequently, we confirmed that performance of the driving coil for the advanced type driving motor, is enough to be used under high temperature steam. And, we evaluated the performance of the bearing and selected the material of the bearing, which can be used under high temperature steam. From these results, we have obtained the prospect that the INV-CRDM can be used for an innovative small reactor under steam atmosphere could be developed. (author)

  19. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

    Full Text Available One of the important research fields for aquatic exploitation and conservation is underwater wireless sensor network. Since limited energy source for underwater nodes and devices is a main open problem, in this paper, we propose wireless underwater monitoring systems powered by energy harvester which resolves the energy constraint. The target system generates renewable energy from energy harvester and shares the energy with underwater sensor nodes. For the realization of the system, key components to be investigated are discriminated as follows: acoustic modem, actuator, smart battery charge controller, energy harvester and wireless power transfer module. By developing acoustic modem, actuator and smart battery charge controller and utilizing off-the-shelf energy harvester and wireless power transfer module, we design and implement a prototype of the system. Also, we verify the feasibility of concept of target system by conducting indoor and outdoor experiments.

  20. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  1. Euclidean reconstruction of natural underwater scenes using optic imagery sequence

    Science.gov (United States)

    Hu, Han

    The development of maritime applications require monitoring, studying and preserving of detailed and close observation on the underwater seafloor and objects. Stereo vision offers advanced technologies to build 3D models from 2D still overlapping optic images in a relatively inexpensive way. However, while image stereo matching is a necessary step in 3D reconstruction procedure, even the most robust dense matching techniques are not guaranteed to work for underwater images due to the challenging aquatic environment. In this thesis, in addition to a detailed introduction and research on the key components of building 3D models from optic images, a robust modified quasi-dense matching algorithm based on correspondence propagation and adaptive least square matching for underwater images is proposed and applied to some typical underwater image datasets. The experiments demonstrate the robustness and good performance of the proposed matching approach.

  2. Carbon Nanotube Underwater Acoustic Thermophone

    Science.gov (United States)

    2016-09-23

    Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST [0001] The...the Invention [0003] The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves. [0006] Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable

  3. A MAC protocol for underwater sensors networks

    OpenAIRE

    Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio; Meseguer Pallarès, Roc; Eggly, Gabriel

    2015-01-01

    “The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-26401-1_37." Underwater sensor networks are becoming an important field of research, because of its everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geo-localization, ocean sampling and early tsunamis alert. It is well-known the challenge that represents to perfo...

  4. Underwater gas tornado

    Science.gov (United States)

    Byalko, Alexey V.

    2013-07-01

    We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.

  5. Tribological properties of fish scale inspired underwater superoleophobic hierarchical structure in aqueous environment

    Science.gov (United States)

    Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Li, Yiquan; Yu, Zhanjiang; Liu, Qimeng; Yu, Huadong

    2017-10-01

    Underwater superoleophobic surfaces are becoming increasingly important in regard to self-cleaning, anti-fouling, oil droplet transportation and water/oil separation. Although a great number of underwater superoleophobic surfaces have been demonstrated, their tribological properties remain impractical for the purposes of real-life applications. Herein, a two-step method of high speed wire electrical discharge machining and boiling water treatment was adopted to fabricate fish scale inspired underwater oil repellent hierarchical structure on an aluminum (Al) alloy 5083 surface. The hierarchical roughness and hydroxyl groups were obtained on the surface, and the surface exhibited the ability to prevent contact with organic fluids when submerged in water. Moreover, the tribological properties of underwater superoleophobic Al surfaces in aqueous environments were analyzed. The average friction coefficient of underwater superoleophobic surfaces was decreased compared with the polished Al surface. We believe that this research will contribute to the engineering application of underwater superoleophobic surfaces in the future.

  6. Underwater noise levels in UK waters.

    Science.gov (United States)

    Merchant, Nathan D; Brookes, Kate L; Faulkner, Rebecca C; Bicknell, Anthony W J; Godley, Brendan J; Witt, Matthew J

    2016-11-10

    Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). Field measurements were made during 2013-2014 at twelve sites around the UK. Median noise levels ranged from 81.5-95.5 dB re 1 μPa for one-third octave bands from 63-500 Hz. Noise exposure varied considerably, with little anthropogenic influence at the Celtic Sea site, to several North Sea sites with persistent vessel noise. Comparison of acoustic metrics found that the RMS level (conventionally used to represent the mean) was highly skewed by outliers, exceeding the 97 th percentile at some frequencies. We conclude that environmental indicators of anthropogenic noise should instead use percentiles, to ensure statistical robustness. Power analysis indicated that at least three decades of continuous monitoring would be required to detect trends of similar magnitude to historic rises in noise levels observed in the Northeast Pacific.

  7. Underwater Hearing in Turtles.

    Science.gov (United States)

    Willis, Katie L

    2016-01-01

    The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.

  8. Deep Learning Methods for Underwater Target Feature Extraction and Recognition

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

    Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.

  9. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

    Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.

  10. Response margins investigation of piping dynamic analyses using the independent support motion method and PVRC [Pressure Vessel Research Committee] damping

    International Nuclear Information System (INIS)

    Bezler, P.; Wang, Y.K.; Reich, M.

    1988-03-01

    An evaluation of Independent Support Motion (ISM) response spectrum methods of analysis coupled with the Pressure Vessel Research Committee (PVRC) recommendation for damping, to compute the dynamic component of the seismic response of piping systems, was completed. Response estimates for five piping/structural systems were developed using fourteen variants of the ISM response spectrum method, the Uniform Support Motions response spectrum method and the ISM time history analysis method, all based on the PVRC recommendations for damping. The ISM/PVRC calculational procedures were found to exhibit orderly characteristics with levels of conservatism comparable to those obtained with the ISM/uniform damping procedures. Using the ISM/PVRC response spectrum method with absolute combination between group contributions provided consistently conservative results while using the ISM/PVRC response spectrum method with square root sum of squares combination between group contributions provided estimates of response which were deemed to be acceptable

  11. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

    Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: nathan.merchant@cefas.co.uk [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)

    2016-02-15

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  12. Pressure vessel design manual

    CERN Document Server

    Moss, Dennis R

    2013-01-01

    Pressure vessels are closed containers designed to hold gases or liquids at a pressure substantially different from the ambient pressure. They have a variety of applications in industry, including in oil refineries, nuclear reactors, vehicle airbrake reservoirs, and more. The pressure differential with such vessels is dangerous, and due to the risk of accident and fatality around their use, the design, manufacture, operation and inspection of pressure vessels is regulated by engineering authorities and guided by legal codes and standards. Pressure Vessel Design Manual is a solutions-focused guide to the many problems and technical challenges involved in the design of pressure vessels to match stringent standards and codes. It brings together otherwise scattered information and explanations into one easy-to-use resource to minimize research and take readers from problem to solution in the most direct manner possible. * Covers almost all problems that a working pressure vessel designer can expect to face, with ...

  13. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

    A blend of introductory material and advanced signal processing and communication techniques, of critical importance to underwater system and network development This book, which is the first to describe the processing techniques central to underwater OFDM, is arranged into four distinct sections: First, it describes the characteristics of underwater acoustic channels, and stresses the difference from wireless radio channels. Then it goes over the basics of OFDM and channel coding. The second part starts with an overview of the OFDM receiver, and develops various modules for the receiver des

  14. Roadmap for Nondestructive Evaluation of Reactor Pressure Vessel Research and Development by the Light Water Reactor Sustainability Program

    Energy Technology Data Exchange (ETDEWEB)

    Smith, Cyrus M [ORNL; Nanstad, Randy K [ORNL; Clayton, Dwight A [ORNL; Matlack, Katie [Georgia Institute of Technology; Ramuhalli, Pradeep [Pacific Northwest National Laboratory (PNNL); Light, Glenn [Southwest Research Institute, San Antonio

    2012-09-01

    The Department of Energy s (DOE) Light Water Reactor Sustainability (LWRS) Program is a five year effort which works to develop the fundamental scientific basis to understand, predict, and measure changes in materials and systems, structure, and components as they age in environments associated with continued long-term operations of existing commercial nuclear power reactors. This year, the Materials Aging and Degradation (MAaD) Pathway of this program has placed emphasis on emerging Non-Destructive Evaluation (NDE) methods which support these objectives. DOE funded Research and Development (R&D) on emerging NDE techniques to support commercial nuclear reactor sustainability is expected to begin next year. This summer, the MAaD Pathway invited subject matter experts to participate in a series of workshops which developed the basis for the research plan of these DOE R&D NDE activities. This document presents the results of one of these workshops which are the DOE LWRS NDE R&D Roadmap for Reactor Pressure Vessels (RPV). These workshops made a substantial effort to coordinate the DOE NDE R&D with that already underway or planned by the Electric Power Research Institute (EPRI) and the Nuclear Regulatory Commission (NRC) through their representation at these workshops.

  15. Underwater plasma arc cutting

    International Nuclear Information System (INIS)

    Leautier, R.; Pilot, G.

    1991-01-01

    This report describes the work done to develop underwater plasma arc cutting techniques, to characterise aerosols from cutting operations on radioactive and non-radioactive work-pieces, and to develop suitable ventilation and filtration techniques. The work has been carried out in the framework of a contract between CEA-CEN Cadarache and the Commission of European Communities. Furthermore, this work has been carried out in close cooperation with CEA-CEN Saclay mainly for secondary emissions and radioactive analysis. The contract started in May 1986 and was completed in December 1988 by a supplementary agreement. This report has been compiled from several progress reports submitted during the work period, contains the main findings of the work and encloses the results of comparative tests on plasma arc cutting

  16. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

    Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.

    . This stresses for implementation of multiple safety measures of a high degree so that the platform operates continuously in a fail-safe mode. This paper discusses issues on safety measures implemented on the autonomous underwater platforms namely MAYA AUV...

  17. Practical problems of experimenting with an underwater wireless sensor node platform

    NARCIS (Netherlands)

    Zhang, Kui; Climent, Salvador; Meratnia, Nirvana; Havinga, Paul J.M.

    2011-01-01

    Although in recent years many research activities have been carried out on underwater communication, still many challenges need to be tackled to make the underwater communication suitable for real applications. To this end, availability of an open and well-designed platform and performing realworld

  18. Underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2010-01-01

    The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  19. Monitoring programme for the Maasvlakte 2. Part III : The effects of underwater sound

    NARCIS (Netherlands)

    Heinis, F.; De Jong, C.; Ainslie, M.; Borst, W.; Vellinga, T.

    2013-01-01

    The Port of Rotterdam is expanding to meet the growing demand to accommodate large cargo vessels. The construction of Maasvlakte 2 (MV2) started in September 2008. One of the licensing conditions is the monitoring of the underwater sound produced during its construction, with an emphasis on the

  20. Monitoring Programme for the Maasvlakte 2, Part III - The Effects of Underwater Sound

    NARCIS (Netherlands)

    Heinis, F.; Jong, C.A.F. de; Ainslie, M.A.; Borst, W.; Vellinga, T.

    2013-01-01

    The Port of Rotterdam is expanding to meet the growing demand to accommodate large cargo vessels. The construction of Maasvlakte 2 (MV2) started in September 2008. One of the licensing conditions is the monitoring of the underwater sound produced during its construction, with an emphasis on the

  1. 46 CFR 176.620 - Description of the Alternative Hull Examination (AHE) Program for certain passenger vessels.

    Science.gov (United States)

    2010-10-01

    ... program, or if a remotely operated vehicle (ROV) is used during the program, the preliminary exam step may... two underwater surveys. If an underwater ROV is used as the predominate method to examine the vessel's... using an ROV must be at least 80 percent. ...

  2. A Review of the Emerging Field of Underwater Mass Spectrometry

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

    Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

  3. Feature Extraction of Underwater Target Signal Using Mel Frequency Cepstrum Coefficients Based on Acoustic Vector Sensor

    Directory of Open Access Journals (Sweden)

    Lanyue Zhang

    2016-01-01

    Full Text Available Feature extraction method using Mel frequency cepstrum coefficients (MFCC based on acoustic vector sensor is researched in the paper. Signals of pressure are simulated as well as particle velocity of underwater target, and the features of underwater target using MFCC are extracted to verify the feasibility of the method. The experiment of feature extraction of two kinds of underwater targets is carried out, and these underwater targets are classified and recognized by Backpropagation (BP neural network using fusion of multi-information. Results of the research show that MFCC, first-order differential MFCC, and second-order differential MFCC features could be used as effective features to recognize those underwater targets and the recognition rate, which using the particle velocity signal is higher than that using the pressure signal, could be improved by using fusion features.

  4. Final report for the 'Melt-Vessel Interactions' Project. European Union R and TD Program 4th Framework. MVI project final research report

    Energy Technology Data Exchange (ETDEWEB)

    Sehgal, B.R.; Dinh, T.N.; Nourgaliev, R.R.; Bui, V.A.; Green, J.; Kolb, G.; Karbojian, A.; Theerthan, S.A.; Gubaidulline, A. [Royal Inst. of Tech., Stockholm (Sweden). Div. of Nuclear Power Safety; Helle, M.; Kymaelaeinen, O.; Tuomisto, H. [IVO Power Engineering Ltd., Vantaa (Finland); Bonnet, J.M.; Rouge, S.; Narcoux, M.; Liegeois, A. [CEA - Grenoble (France); Turland, B.D.; Dobson, G.P. [AEA Technology plc, Dorchester (United Kingdom); Siccama, A. [ECN Nuclear Research, Petten (Netherlands); Ikonen, K. [VTT Energy, Helsinki (Finland); Parozzi, F. [ENEL - SRI/PAM/GRA, Segrate, MI (Italy); Kolev, N. [Siemens AG, Erlangen (Germany); Caira, M. [Univ. of Roma (Italy)

    1999-04-01

    The Melt Vessel Interaction (MVI) project is concerned with the consequences of the interactions that a core melt, generated during a postulated severe accident in a light water reactor, may have with the pressure vessel. In particular, the issues concerned with the failure of the vessel bottom head are the focus of the research. The specific objectives of the project are to obtain data and develop validated models, which could be applied to prototypic plants, and accident conditions, for resolution of issues related to the melt vessel interactions. The project work has been performed by nine partners having varied responsibility. The work included a large number of experiments, with simulant materials, whose observations and results are employed, respectively, to understand the physical mechanisms and to develop validated models. Applications to the prototypic geometry and conditions have also been performed. This report is volume 1 of the Final Report for the Project, in which a summary of the progress achieved in the experimental program is provided. We have, however, included some aspects of the modeling activities. Volume 2 of the Final report describes the progress achieved in the modeling program. The progress achieved in the experimental and modeling parts of the Project has led to the resolution of some of the issues of melt vessel interaction. Considerable progress was also achieved towards resolution of the remaining issues.

  5. Proceedings of the 3rd international conference on heat exchangers, boilers and pressure vessels (HEB-97). Vol.1 (Research Papers)

    International Nuclear Information System (INIS)

    1997-04-01

    This conference was held on 5-6 Apr 1997 in Alexandria. the specialists discussed heat exchangers, boilers and pressure vessels. more than 200 papers were presented in the meetings. it contains of data, figures and tables

  6. Underwater Visual Computing: The Grand Challenge Just around the Corner.

    Science.gov (United States)

    von Lukas, Uwe Freiherr

    2016-01-01

    Visual computing technologies have traditionally been developed for conventional setups where air is the surrounding medium for the user, the display, and/or the camera. However, given mankind's increasingly need to rely on the oceans to solve the problems of future generations (such as offshore oil and gas, renewable energies, and marine mineral resources), there is a growing need for mixed-reality applications for use in water. This article highlights the various research challenges when changing the medium from air to water, introduces the concept of underwater mixed environments, and presents recent developments in underwater visual computing applications.

  7. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

    DeLong, M. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.

  8. Underwater measurements of muon intensity

    Science.gov (United States)

    Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.

    1985-01-01

    Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.

  9. Sources of underwater sound and their characterisation (abstract)

    NARCIS (Netherlands)

    Ainslie, M.A.; Jong, C.A.F. de

    2013-01-01

    After centuries of speculation, punctuated by occasional theoretical or experimental advances, the first intensive research into underwater sound took place 100 years ago, applied initially to provide advance warning of icebergs after the loss of RMS Titanic in 1912, and later to counter the U-boat

  10. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

  11. An Underwater Color Image Quality Evaluation Metric.

    Science.gov (United States)

    Yang, Miao; Sowmya, Arcot

    2015-12-01

    Quality evaluation of underwater images is a key goal of underwater video image retrieval and intelligent processing. To date, no metric has been proposed for underwater color image quality evaluation (UCIQE). The special absorption and scattering characteristics of the water medium do not allow direct application of natural color image quality metrics especially to different underwater environments. In this paper, subjective testing for underwater image quality has been organized. The statistical distribution of the underwater image pixels in the CIELab color space related to subjective evaluation indicates the sharpness and colorful factors correlate well with subjective image quality perception. Based on these, a new UCIQE metric, which is a linear combination of chroma, saturation, and contrast, is proposed to quantify the non-uniform color cast, blurring, and low-contrast that characterize underwater engineering and monitoring images. Experiments are conducted to illustrate the performance of the proposed UCIQE metric and its capability to measure the underwater image enhancement results. They show that the proposed metric has comparable performance to the leading natural color image quality metrics and the underwater grayscale image quality metrics available in the literature, and can predict with higher accuracy the relative amount of degradation with similar image content in underwater environments. Importantly, UCIQE is a simple and fast solution for real-time underwater video processing. The effectiveness of the presented measure is also demonstrated by subjective evaluation. The results show better correlation between the UCIQE and the subjective mean opinion score.

  12. Status on underwater plasma arc cutting in KHI, 3

    International Nuclear Information System (INIS)

    Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji

    1983-01-01

    In Kawasaki Heavy Industries, Ltd., the development of a remote dismantling system by underwater plasma arc cutting process has been advanced, expecting its application to the dismantling and removal of nuclear reactor facilities. In the previous two reports, the fundamental experimental results such as the comparison of the cutting capability in air and in water were shown, but this time, the remote automatic cutting of wedge-shaped specimens was carried out, using a newly installed manipulator for underwater works, therefore its outline is reported. Also the cutting experiment by overhead position and vertical position was performed by using the same equipment, and comparison was made with the cutting capability by downhand and horizontal positions. It is important to grasp the cutting characteristics in the case of upward advancing and downward advancing cuttings by overhead and vertical positions when the cutting of pressure vessels and horizontal pipes into rings is supposed. The experimental apparatus, the cutting conditions, the testing method and the test results of the cutting capability test, the test of changing direction during cutting, and the remote cutting of pipes into rings are described. The underwater plasma arc cutting can cut all metals, the cutting speed is relatively high, and the apparatus is simple and compact. (Kako, I.)

  13. Cardiovascular changes during SCUBA diving: an underwater Doppler echocardiographic study.

    Science.gov (United States)

    Marabotti, C; Scalzini, A; Menicucci, D; Passera, M; Bedini, R; L'Abbate, A

    2013-09-01

    Body immersion induces blood redistribution (from peripheral to intrathoracic vessels) and is a powerful autonomic stimulus (activating both parasympathetic and sympathetic systems). For these reasons, concerns have been raised about the safety of diving for subjects with previous heart disease. The aim of this study was to evaluate cardiovascular changes occurring during recreational SCUBA diving, as assessed by underwater Doppler echocardiography. Eighteen healthy experienced divers underwent a 2D Doppler echocardiography basally, during two 15' steps of still SCUBA diving at different depths (10 m followed by 5 m) and shortly after the end of immersion. During dive, left ventricular (LV) diastolic volume and early left ventricular filling significantly increased (5 m vs. basal: P dive vs. basal: P dive). This study documents that shallow-depth SCUBA diving induces LV enlargement and diastolic dysfunction. Direct underwater evaluation by Doppler echocardiography could be an appropriate tool for unmasking subjects at risk for underwater-related accidents. © 2013 Scandinavian Physiological Society. Published by John Wiley & Sons Ltd.

  14. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

    Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.

    2012-12-01

    An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional

  15. Long Term Validation of High Precision RTK Positioning Onboard a Ferry Vessel Using the MGBAS in the Research Port of Rostock

    Directory of Open Access Journals (Sweden)

    Ralf Ziebold

    2017-09-01

    Full Text Available In order to enable port operations, which require an accuracy of about 10cm, the German Aerospace Center (DLR operates the Maritime Ground Based Augmentation Service (MGBAS in the Research Port of Rostock. The MGBAS reference station provides GPS dual frequency code + phase correction data, which are continuously transmitted via an ultra-high frequency (UHF modem. Up to now the validation of the MGBAS was rather limited. Either a second shore based station was used as an artificial user, or measurement campaigns on a vessel with duration of a few hours have been conducted. In order to overcome this, we have installed three separate dual frequency antennas and receivers and a UHF modem on the Stena Line ferry vessel Mecklenburg-Vorpommern which is plying between Rostock and Trelleborg. This paper concentrates on the analysis of the highly accurate phase based positioning with a Real Time Kinematic (RTK algorithm, using correction data received by the UHF modem onboard the vessel. We analyzed the availability and accuracy of RTK fix solutions for several days, whenever the ferry vessel was inside the service area of the MGBAS.

  16. Calibration of Underwater Sound Transducers

    OpenAIRE

    H.R.S. Sastry

    1983-01-01

    The techniques of calibration of underwater sound transducers for farfield, near-field and closed environment conditions are reviewed in this paper .The design of acoustic calibration tank is mentioned. The facilities available at Naval Physical & Oceanographic Laboratory, Cochin for calibration of transducers are also listed.

  17. Underwater Robots Surface in Utah

    Science.gov (United States)

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  18. Antibody-linked drug destroys tumor cells and tumor blood vessels in many types of cancer | Center for Cancer Research

    Science.gov (United States)

    A team led by Brad St. Croix, Ph.D., Senior Associate Scientist, Mouse Cancer Genetics Program, has developed an antibody-drug conjugate (ADC) that destroys both tumor cells and the blood vessels that nourish them. The drug significantly shrank breast tumors, colon tumors and several other types of cancer and prolonged survival. Learn more...  

  19. Underwater noise pollution in a coastal tropical environment.

    Science.gov (United States)

    Bittencourt, L; Carvalho, R R; Lailson-Brito, J; Azevedo, A F

    2014-06-15

    Underwater noise pollution has become a major concern in marine habitats. Guanabara Bay, southeastern Brazil, is an impacted area of economic importance with constant vessel traffic. One hundred acoustic recording sessions took place over ten locations. Sound sources operating within 1 km radius of each location were quantified during recordings. The highest mean sound pressure level near the surface was 111.56±9.0 dB re 1 μPa at the frequency band of 187 Hz. Above 15 kHz, the highest mean sound pressure level was 76.21±8.3 dB re 1 μPa at the frequency 15.89 kHz. Noise levels correlated with number of operating vessels and vessel traffic composition influenced noise profiles. Shipping locations had the highest noise levels, while small vessels locations had the lowest noise levels. Guanabara Bay showed noise pollution similar to that of other impacted coastal regions, which is related to shipping and vessel traffic. Copyright © 2014 Elsevier Ltd. All rights reserved.

  20. Development of a tentacle propulsion technique for underwater application

    International Nuclear Information System (INIS)

    Alamgir, T; Rashid, M M; Khan, M R

    2013-01-01

    As robotic technology matures and more platforms are fielded in unstructured real-world situations, the more new areas of applications are being thought for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different biological creatures like, snake, bird, and spider for their stunning advantages. Underwater exploration using robots is a new avenue. Research on the tentacle robot for underwater application is a new field of research besides the other research in this arena. There are few researches on this topic are explored and mostly are on biological robot. Besides those researches this paper aims to propose and demonstrate another technique to build a tentacle for propulsion purposes. Therefore, in this paper will discuss more on mathematical development for the propulsion technique and its software verification technique in considering the environmental constrains

  1. Development of a tentacle propulsion technique for underwater application

    Science.gov (United States)

    Alamgir, T.; Rashid, M. M.; Khan, M. R.

    2013-12-01

    As robotic technology matures and more platforms are fielded in unstructured real-world situations, the more new areas of applications are being thought for robotic deployment. After successes in industrial robots, researchers are now trying to explore new robots with biological features of different biological creatures like, snake, bird, and spider for their stunning advantages. Underwater exploration using robots is a new avenue. Research on the tentacle robot for underwater application is a new field of research besides the other research in this arena. There are few researches on this topic are explored and mostly are on biological robot. Besides those researches this paper aims to propose and demonstrate another technique to build a tentacle for propulsion purposes. Therefore, in this paper will discuss more on mathematical development for the propulsion technique and its software verification technique in considering the environmental constrains.

  2. Underwater Optical Wireless Communications, Networking, and Localization: A Survey

    KAUST Repository

    Saeed, Nasir

    2018-02-28

    Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

  3. Reactor vessel

    NARCIS (Netherlands)

    Makkee, M.; Kapteijn, F.; Moulijn, J.A.

    1999-01-01

    A reactor vessel (1) comprises a reactor body (2) through which channels (3) are provided whose surface comprises longitudinal inwardly directed parts (4) and is provided with a catalyst (6), as well as buffer bodies (8, 12) connected to the channels (3) on both sides of the reactor body (2) and

  4. Software architecture of biomimetic underwater vehicle

    Science.gov (United States)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

    Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

  5. Underwater Wireless Acousto-Optic Waveguide (UWAOW)

    Science.gov (United States)

    Giuliano, Giovanni; Kent, Lionel W. J.; Laycock, Leslie C.

    2017-10-01

    The present study originated in the lack of research into achieving underwater total internal reflection (TIR) via the acousto-optic effect. The uniqueness of this technique exists in the fact that it is based on a high sound pressure level which induces a localised change in refractive index of seawater sufficient to achieve total internal reflection within the communication channel. Different transducer systems for generating the pressure wave have been investigated and take the form of a wave which may be either a standing wave, or a novel beamforming technique. The former is based on an array of transducers and with an acoustic mirror at the receiver in order to establish the standing wave. The alternative approach relies on the high intrinsic directionality of a novel beamformer where an annular transducer array is examined as an acoustic source. In this paper, the main characteristics of the acoustic optic waveguide will be presented. This will include both sound and light propagation in the ocean, TIR, novel beam propagation, the refractive index of water as a function of the externally applied acoustic pressure, and the acoustic technology. The modelled results, the limitations imposed by the challenging medium, and the system requirements required to obtain an Underwater Wireless Acousto-Optic Waveguide (UWAOW) will be also addressed.

  6. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

    Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

    2003-01-01

    The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

  7. Numerical modelling of underwater detonation of non-ideal condensed-phase explosives

    Science.gov (United States)

    Schoch, Stefan; Nikiforakis, Nikolaos

    2015-01-01

    The interest in underwater detonation tests originated from the military, since the expansion and subsequent collapse of the explosive bubble can cause considerable damage to surrounding structures or vessels. In military applications, the explosive is typically represented as a pre-burned material under high pressure, a reasonable assumption due to the short reaction zone lengths, and complete detonation of the unreacted explosive. Hence, numerical simulations of underwater detonation tests have been primarily concerned with the prediction of target loading and the damage incurred rather than the accurate modelling of the underwater detonation process. The mining industry in contrast has adopted the underwater detonation test as a means to experimentally characterise the energy output of their highly non-ideal explosives depending on explosive type and charge configuration. This characterisation requires a good understanding of how the charge shape, pond topography, charge depth, and additional charge confinement affect the energy release, some of which can be successfully quantified with the support of accurate numerical simulations. In this work, we propose a numerical framework which is able to capture the non-ideal explosive behaviour and in addition is capable of capturing both length scales: the reaction zone and the pond domain. The length scale problem is overcome with adaptive mesh refinement, which, along with the explosive model, is validated against experimental data of various TNT underwater detonations. The variety of detonation and bubble behaviour observed in non-ideal detonations is demonstrated in a parameter study over the reactivity of TNT. A representative underwater mining test containing an ammonium-nitrate fuel-oil ratestick charge is carried out to demonstrate that the presented method can be readily applied alongside experimental underwater detonation tests.

  8. The vessel fluence; Fluence cuve

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-07-01

    This book presents the proceedings of the technical meeting on the reactors vessels fluence. They are grouped in eight sessions: the industrial context and the stakes of the vessels control; the organization and the methodology for the fluence computation; the concerned physical properties; the reference computation methods; the fluence monitoring in an industrial context; vessels monitoring under irradiation; others methods in the world; the research and development programs. (A.L.B.)

  9. Development of a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics

    Science.gov (United States)

    Amin, Osman Md; Karim, Md. Arshadul; Saad, Abdullah His

    2017-12-01

    At present, research on unmanned underwater vehicle (UUV) has become a significant & familiar topic for researchers from various engineering fields. UUV is of mainly two types - AUV (Autonomous Underwater vehicle) & ROV (Remotely Operated Vehicle). There exist a significant number of published research papers on UUV, where very few researchers emphasize on the ease of maneuvering and control of UUV. Maneuvering is important for underwater vehicle in avoiding obstacles, installing underwater piping system, searching undersea resources, underwater mine disposal operations, oceanographic surveys etc. A team from Dept. of Naval Architecture & Marine Engineering of MIST has taken a project to design a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics. The main objective of the research is to develop a control system for UUV which would be able to maneuver the vehicle in six DOF (Degrees of Freedom) with great ease. For this purpose we are not only focusing on controllability but also designing an efficient hull with minimal drag force & optimized propeller using CFD technique. Motors were selected on the basis of the simulated thrust generated by propellers in ANSYS Fluent software module. Settings for control parameters to carry out different types of maneuvering such as hovering, spiral, one point rotation about its centroid, gliding, rolling, drifting and zigzag motions were explained in short at the end.

  10. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  11. Evaluation of Underwater Image Enhancement Algorithms under Different Environmental Conditions

    Directory of Open Access Journals (Sweden)

    Marino Mangeruga

    2018-01-01

    Full Text Available Underwater images usually suffer from poor visibility, lack of contrast and colour casting, mainly due to light absorption and scattering. In literature, there are many algorithms aimed to enhance the quality of underwater images through different approaches. Our purpose was to identify an algorithm that performs well in different environmental conditions. We have selected some algorithms from the state of the art and we have employed them to enhance a dataset of images produced in various underwater sites, representing different environmental and illumination conditions. These enhanced images have been evaluated through some quantitative metrics. By analysing the results of these metrics, we tried to understand which of the selected algorithms performed better than the others. Another purpose of our research was to establish if a quantitative metric was enough to judge the behaviour of an underwater image enhancement algorithm. We aim to demonstrate that, even if the metrics can provide an indicative estimation of image quality, they could lead to inconsistent or erroneous evaluations.

  12. Student-Built Underwater Video and Data Capturing Device

    Science.gov (United States)

    Whitt, F.

    2016-12-01

    Students from Stockbridge High School Robotics Team invention is a low cost underwater video and data capturing device. This system is capable of shooting time-lapse photography and/or video for up to 3 days of video at a time. It can be used in remote locations without having to change batteries or adding additional external hard drives for data storage. The video capturing device has a unique base and mounting system which houses a pi drive and a programmable raspberry pi with a camera module. This system is powered by two 12 volt batteries, which makes it easier for users to recharge after use. Our data capturing device has the same unique base and mounting system as the underwater camera. The data capturing device consists of an Arduino and SD card shield that is capable of collecting continuous temperature and pH readings underwater. This data will then be logged onto the SD card for easy access and recording. The low cost underwater video and data capturing device can reach depths up to 100 meters while recording 36 hours of video on 1 terabyte of storage. It also features night vision infrared light capabilities. The cost to build our invention is $500. The goal of this was to provide a device that can easily be accessed by marine biologists, teachers, researchers and citizen scientists to capture photographic and water quality data in marine environments over extended periods of time.

  13. Non-line-of-sight underwater optical wireless communication network.

    Science.gov (United States)

    Arnon, Shlomi; Kedar, Debbie

    2009-03-01

    The growing need for ocean observation systems has stimulated considerable interest within the research community in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. Sensors and ad hoc sensor networks are the emerging tools for performing extensive data-gathering operations on land, and solutions in the subsea setting are being sought. Efficient communication from the sensors and within the network is critical, but the underwater environment is extremely challenging. Addressing the special features of underwater wireless communication in sensor networks, we propose a novel non-line-of-sight network concept in which the link is implemented by means of back-reflection of the propagating optic signal at the ocean-air interface and derive a mathematical model of the channel. Point-to-multipoint links can be achieved in an energy efficient manner and broadcast broadband communications, such as video transmissions, can be executed. We show achievable bit error rates as a function of sensor node separation and demonstrate the feasibility of this concept using state-of-the-art silicon photomultiplier detectors.

  14. Network Computing for Distributed Underwater Acoustic Sensors

    Science.gov (United States)

    2014-03-31

    Physical layer in UASNs Our main investigations are about underwater communications using acoustic waves. Elec- tromagnetic and optical waves do not...Shengli, Z., and Jun-Hong, C. (2008), Prospects and problems of wireless communication for underwater sensor networks, Wirel. Commun . Mob. Comput., 8(8... Wireless Communications , 9(9), 2934–2944. [21] Pompili, D. and Akyildiz, I. (2010), A multimedia cross-layer protocol for underwater acoustic sensor networks

  15. OceanVideoLab: A Tool for Exploring Underwater Video

    Science.gov (United States)

    Ferrini, V. L.; Morton, J. J.; Wiener, C.

    2016-02-01

    Video imagery acquired with underwater vehicles is an essential tool for characterizing seafloor ecosystems and seafloor geology. It is a fundamental component of ocean exploration that facilitates real-time operations, augments multidisciplinary scientific research, and holds tremendous potential for public outreach and engagement. Acquiring, documenting, managing, preserving and providing access to large volumes of video acquired with underwater vehicles presents a variety of data stewardship challenges to the oceanographic community. As a result, only a fraction of underwater video content collected with research submersibles is documented, discoverable and/or viewable online. With more than 1 billion users, YouTube offers infrastructure that can be leveraged to help address some of the challenges associated with sharing underwater video with a broad global audience. Anyone can post content to YouTube, and some oceanographic organizations, such as the Schmidt Ocean Institute, have begun live-streaming video directly from underwater vehicles. OceanVideoLab (oceanvideolab.org) was developed to help improve access to underwater video through simple annotation, browse functionality, and integration with related environmental data. Any underwater video that is publicly accessible on YouTube can be registered with OceanVideoLab by simply providing a URL. It is strongly recommended that a navigational file also be supplied to enable geo-referencing of observations. Once a video is registered, it can be viewed and annotated using a simple user interface that integrates observations with vehicle navigation data if provided. This interface includes an interactive map and a list of previous annotations that allows users to jump to times of specific observations in the video. Future enhancements to OceanVideoLab will include the deployment of a search interface, the development of an application program interface (API) that will drive the search and enable querying of

  16. Containment vessel

    International Nuclear Information System (INIS)

    Zbirohowski-Koscia, K.F.; Roberts, A.C.

    1980-01-01

    A concrete containment vessel for nuclear reactors is disclosed that is spherical and that has prestressing tendons disposed in first, second and third sets, the tendons of each set being all substantially concentric and centred around a respective one of the three orthogonal axes of the sphere; the tendons of the first set being anchored at each end at a first anchor rib running around a circumference of the vessel, the tendons of the second set being anchored at each end at a second anchor rib running around a circumference of the sphere and disposed at 90 0 to the first rib, and the tendons of the third set being anchored some to the first rib and the remainder to the second rib. (author)

  17. Research progress of cerebral venous system diseases and cerebral small vessel disease: Chinese scholars' reports published abroad

    Directory of Open Access Journals (Sweden)

    Tian CAO

    2016-11-01

    Full Text Available In recent years, Chinese scholars have published several high-quality articles on cerebral venous system diseases and cerebral small vessel disease (cSVD in foreign professional journals, covering new imaging techniques for diagnosis and differential diagnosis of cerebral venous thrombosis (CVT, combination therapy in severe CVT, influencing factors of cSVD, detection methods and treatment exploration, etc. In this review, we briefly outline the data on their studies. DOI: 10.3969/j.issn.1672-6731.2016.11.005

  18. FURTHER DEVELOPMENTS OF MULTI-PURPOSE UNDERWATER DATA COLLECTION DEVICES DEPLOYED WITH REMOTELY OPERATED VEHICLES

    Directory of Open Access Journals (Sweden)

    MITRUT CARAIVAN

    2016-06-01

    Full Text Available This paper is following further development of the common framework model for multi-purpose underwater data collection devices focusing on second generation of simulation techniques VMAX2.0 on Perry-Slingsby ROV simulator. It is addressing physics-based simulation differences and their impact on the previous research for deployment challenges of underwater sensor networks called "Safe-Nets" by using Remotely Operated Vehicles (ROV in the Black Sea area.

  19. Underwater Wet Repair Welding of API 5L X65M Pipeline Steel

    OpenAIRE

    Rogalski Grzegorz; Fydrych Dariusz; Łabanowski Jerzy

    2017-01-01

    This paper presents results of the research of effect of polymer insulation of pipeline made of API 5L X65M steel as well as underwater wet welding parameters on properties of joints made by covered electrodes. Effect of heat input on structure and hardness of joints during repair of underwater pipeline was analyzed. Welding defects like microcracks, micro-lacks of fusion, slag inclusions, as well as HAZ hardness increase over an assumed acceptance criterion for welded joints in pipes without...

  20. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

  1. Displacement responses of a mysticete, an odontocete, and a phocid seal to construction-related vessel traffic

    NARCIS (Netherlands)

    Anderwald, P.; Brandecker, A.; Coleman, M.; Collins, C.; Denniston, H.; Haberlin, M.D.; O’Donovan, M.; Pinfield, R.; Visser, F.; Walshe, L.

    2013-01-01

    Marine construction works often lead to temporary increases in vessel traffic, which, in addition to the construction activity itself, contribute to underwater ambient noise in the affected area and increase the risk of vessel collision for marine mammals. Using a 3 yr data set of cliff-based

  2. Cooperative Control of Unmanned Surface Vessels and Unmanned Underwater Vessels for Asset Protection

    Science.gov (United States)

    2015-05-18

    associated with surface threats. As such, without loss of generality, the EO capability is assumed to be omnidirectional . Taking that into account...cannot be rendered, but it is again assumed that the system is omnidirectional . In the case of a sonar, this means sensing occurs across the full 3D...state to be controlled is defined as the position of a point on the vehicle that is off the common wheel /thruster axis [19]. Additionally, the scales

  3. Priority Determination of Underwater Tourism Site Development in Gorontalo Province using Analytical Hierarchy Process (AHP)

    Science.gov (United States)

    Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.

    2018-02-01

    This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.

  4. Fouling in your own nest: vessel noise increases biofouling.

    Science.gov (United States)

    Stanley, Jenni A; Wilkens, Serena L; Jeffs, Andrew G

    2014-01-01

    Globally billions of dollars are spent each year on attempting to reduce marine biofouling on commercial vessels, largely because it results in higher fuel costs due to increased hydrodynamic drag. Biofouling has been long assumed to be primarily due to the availability of vacant space on the surface of the hull. Here, it is shown that the addition of the noise emitted through a vessel's hull in port increases the settlement and growth of biofouling organisms within four weeks of clean surfaces being placed in the sea. More than twice as many bryozoans, oysters, calcareous tube worms and barnacles settled and established on surfaces with vessel noise compared to those without. Likewise, individuals from three species grew significantly larger in size in the presence of vessel noise. The results demonstrate that vessel noise in port is promoting biofouling on hulls and that underwater sound plays a much wider ecological role in the marine environment than was previously considered possible.

  5. The control system of an autonomous underwater vehicle

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    1995-04-01

    Full Text Available This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

  6. Localization Algorithms of Underwater Wireless Sensor Networks: A Survey

    Science.gov (United States)

    Han, Guangjie; Jiang, Jinfang; Shu, Lei; Xu, Yongjun; Wang, Feng

    2012-01-01

    In Underwater Wireless Sensor Networks (UWSNs), localization is one of most important technologies since it plays a critical role in many applications. Motivated by widespread adoption of localization, in this paper, we present a comprehensive survey of localization algorithms. First, we classify localization algorithms into three categories based on sensor nodes’ mobility: stationary localization algorithms, mobile localization algorithms and hybrid localization algorithms. Moreover, we compare the localization algorithms in detail and analyze future research directions of localization algorithms in UWSNs. PMID:22438752

  7. A Survey on Underwater Acoustic Sensor Network Routing Protocols

    Directory of Open Access Journals (Sweden)

    Ning Li

    2016-03-01

    Full Text Available Underwater acoustic sensor networks (UASNs have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

  8. A Survey on Underwater Acoustic Sensor Network Routing Protocols.

    Science.gov (United States)

    Li, Ning; Martínez, José-Fernán; Meneses Chaus, Juan Manuel; Eckert, Martina

    2016-03-22

    Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

  9. Development of a submersible gravimeter on underwater vehicles

    Science.gov (United States)

    Yamada, T.; Kanazawa, T.; Fujimoto, H.; Shinohara, M.; Ishihara, T.; Araya, A.; Iizasa, K.; Tsukioka, S.

    2012-12-01

    Gravity is one of the powerful indices to profile underground structures. Surface ship gravimeters are popular tool for the purpose of collecting gravity values in marine region. They enable you to obtain gravity values from large area easily, while the resolutions are relatively low because of the distance between the sea surface and bottom. Otherwise, ocean bottom gravimeters are able to be observed gravity with high resolution, but they have still covered few limited sites so that they are designed to do observation in quiet only. In some cases, such as hydrothermal deposit survey, the medium performance both in resolution and size of survey area are required. This paper describes a gravimeter we have been developing for satisfying the requirements. Our target is to detect gravity anomalies less than 1 mgal by using an underwater vehicle. This setting is roughly equivalent to find a typical hydrothermal deposit with a dimension of 0.5 km x 0.5 km x 10 m and a density contrast of 1 g/cm3 when we set the sensor at 50 m high from the seafloor. There are some issues such as noise reduction, robustness and downsizing to clear the target. A gravity sensor (Micro-g LaCoste S-174) is mounted on a gimbal control unit with an inertial navigation sensor for the problems. These are stored in a sphere vessel made of titanium alloy (125 kgf in air, 32 kgf in water) and it is available in 3500 m below sea surface. Furthermore, in order to reduce high frequency noise due to mainly the vehicle motion through a low-pass filter, data are able to be stored at sampling rates of approximately 100 Hz. The logging system and control unit for communication to/from ship is stored another canister (22 kgf in air, 10 kgf in water). We made gravity measurement experiments to examine the effectiveness of the gimbal system and filtering application. The gravimeter was set on a machine simulating pitch and roll motions with a period of 16 s and an amplitude of 7.5 degrees, which is greater

  10. Research on Cellular Instabilities of Lean Premixed Syngas Flames under Various Hydrogen Fractions Using a Constant Volume Vessel

    Directory of Open Access Journals (Sweden)

    Hong-Meng Li

    2014-07-01

    Full Text Available An experimental study of the intrinsic instabilities of H2/CO lean (φ = 0.4 to φ = 1.0 premixed flames at different hydrogen fractions ranging from 0% to 100% at elevated pressure and room temperature was performed in a constant volume vessel using a Schlieren system. The unstretched laminar burning velocities were compared with data from the previous literature and simulated results. The results indicate that excellent agreements are obtained. The cellular instabilities of syngas-air flames were discussed and critical flame radii were measured. When hydrogen fractions are above 50%, the flame tends to be more stable as the equivalence ratio increases; however, the instability increases for flames of lower hydrogen fractions. For the premixed syngas flame with hydrogen fractions greater than 50%, the decline in cellular instabilities induced by the increase in equivalence ratio can be attributed to a reduction of diffusive-thermal instabilities rather than increased hydrodynamic instabilities. For premixed syngas flames with hydrogen fractions lower than 50%, as the equivalence ratio increases, the cellular instabilities become more evident because the enhanced hydrodynamic instabilities become the dominant effect. For premixed syngas flames, the enhancement of cellular instabilities induced by the increase in hydrogen fraction is the result of both increasing diffusive-thermal and hydrodynamic instabilities.

  11. Model based image restoration for underwater images

    Science.gov (United States)

    Stephan, Thomas; Frühberger, Peter; Werling, Stefan; Heizmann, Michael

    2013-04-01

    The inspection of offshore parks, dam walls and other infrastructure under water is expensive and time consuming, because such constructions must be inspected manually by divers. Underwater buildings have to be examined visually to find small cracks, spallings or other deficiencies. Automation of underwater inspection depends on established water-proved imaging systems. Most underwater imaging systems are based on acoustic sensors (sonar). The disadvantage of such an acoustic system is the loss of the complete visual impression. All information embedded in texture and surface reflectance gets lost. Therefore acoustic sensors are mostly insufficient for these kind of visual inspection tasks. Imaging systems based on optical sensors feature an enormous potential for underwater applications. The bandwidth from visual imaging systems reach from inspection of underwater buildings via marine biological applications through to exploration of the seafloor. The reason for the lack of established optical systems for underwater inspection tasks lies in technical difficulties of underwater image acquisition and processing. Lightening, highly degraded images make a computational postprocessing absolutely essential.

  12. Analysing deterioration of marble stones exposed to underwater conditions

    Science.gov (United States)

    Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

    2016-04-01

    The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study

  13. Underwater milling machine system for core barrel repair

    International Nuclear Information System (INIS)

    Kramer, A.W.; Smith, E.H.

    1991-01-01

    This paper discusses an underwater machining system for the repair and maintenance of nuclear vessels. It comprises a platform with means for supporting the platform in a substantially horizontal plane; a machining device detachably connectable to the platform comprising a milling or boring machine and a spacial positioning means for locating the milling or boring machines in a precise working position. The spacial positioning means including adjustment means for movement of the milling or boring machine along its X Y and Z axes; a guide means for automatically aligning the machining device on the platform, so that when the detachable machining device is lowered from a detached position above the platform. The guide means automatically aligns the machining device to the platform; and a remote control means for operating the spacial positioning means and the milling or boring machine

  14. Underwater inspection and maintenance programs within nuclear and non-nuclear related operating systems

    International Nuclear Information System (INIS)

    Vallance, C.; Goulet, B.; Black, S.

    2008-01-01

    The increasing age of the nuclear and non-nuclear power generating facilities requires extended inspection, repair and maintenance (IRM) activities to prolong the operation of these facilities past their original design life. Commercial divers are often utilized to perform critical work at nuclear power plants, fuel reprocessing plants, waste storage facilities, and research institutions. These various tasks include inspection, welding, mechanical modifications and repairs, coating applications, and work associated with plant decommissioning. Programs may take place in areas such as the reactor vessel, equipment pool, spent fuel pool, and suppression chamber using manned intervention and remotely operated vehicles. Some of these tasks can also be conducted using remotely operated vehicles (ROV's). Although specialist robots are not uncommon to the nuclear industry, the use of free-swimming vehicle's and remote systems for the inspection of underwater assets has increased due to improvements of the supporting technologies and information requirements needed to extend the life of these facilities. This paper will provide an overview of the procedures and equipment necessary to perform unique work tasks using manned and unmanned techniques. (author)

  15. Image processing algorithm for robot tracking in reactor vessel

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Tae Won; Choi, Young Soo; Lee, Sung Uk; Jeong, Kyung Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Kim, Nam Kyun [Korea Plant Service and Engineering Co., Seongnam (Korea, Republic of)

    2011-10-15

    In this paper, we proposed an image processing algorithm to find the position of an underwater robot in the reactor vessel. Proposed algorithm is composed of Modified SURF(Speeded Up Robust Feature) based on Mean-Shift and CAMSHIFT(Continuously Adaptive Mean Shift Algorithm) based on color tracking algorithm. Noise filtering using luminosity blend method and color clipping are preprocessed. Initial tracking area for the CAMSHIFT is determined by using modified SURF. And then extracting the contour and corner points in the area of target tracked by CAMSHIFT method. Experiments are performed at the reactor vessel mockup and verified to use in the control of robot by visual tracking

  16. Image processing algorithm for robot tracking in reactor vessel

    International Nuclear Information System (INIS)

    Kim, Tae Won; Choi, Young Soo; Lee, Sung Uk; Jeong, Kyung Min; Kim, Nam Kyun

    2011-01-01

    In this paper, we proposed an image processing algorithm to find the position of an underwater robot in the reactor vessel. Proposed algorithm is composed of Modified SURF(Speeded Up Robust Feature) based on Mean-Shift and CAMSHIFT(Continuously Adaptive Mean Shift Algorithm) based on color tracking algorithm. Noise filtering using luminosity blend method and color clipping are preprocessed. Initial tracking area for the CAMSHIFT is determined by using modified SURF. And then extracting the contour and corner points in the area of target tracked by CAMSHIFT method. Experiments are performed at the reactor vessel mockup and verified to use in the control of robot by visual tracking

  17. A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor... VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING 5. FUNDING NUMBERS 6. AUTHOR(S) Jake A. Jones 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS...underwater vehicles (AUVs), robot vision, autonomy, visual odometry, underwater color shift, optical properties of water 15. NUMBER OF PAGES 75 16

  18. Corrosion Resistant Cladding by YAG Laser Welding in Underwater Environment

    International Nuclear Information System (INIS)

    Tsutomi Kochi; Toshio Kojima; Suemi Hirata; Ichiro Morita; Katsura Ohwaki

    2002-01-01

    It is known that stress-corrosion cracking (SCC) will occur in nickel-base alloys used in Reactor Pressure Vessel (RPV) and Internals of nuclear power plants. A SCC sensitivity has been evaluated by IHI in each part of RPV and Internals. There are several water level instrumentation nozzles installed in domestic BWR RPV. In water level instrumentation nozzles, 182 type nickel-base alloys were used for the welding joint to RPV. It is estimated the SCC potential is high in this joint because of a higher residual stress than the yield strength (about 400 MPa). This report will describe a preventive maintenance method to these nozzles Heat Affected Zone (HAZ) and welds by a corrosion resistant cladding (CRC) by YAG Laser in underwater environment (without draining a reactor water). There are many kinds of countermeasures for SCC, for example, Induction Heating Stress Improvement (IHSI), Mechanical Stress Improvement Process (MSIP) and so on. A YAG laser CRC is one of them. In this technology a laser beam is used for heat source and irradiated through an optical fiber to a base metal and SCC resistant material is used for welding wires. After cladding the HAZ and welds are coated by the corrosion resistant materials so their surfaces are improved. A CRC by gas tungsten arc welding (GTAW) in an air environment had been developed and already applied to a couple of operating plants (16 Nozzles). This method was of course good but it spent much time to perform because of an installation of some water-proof working boxes to make a TIG-weldability environment. CRC by YAG laser welding in underwater environment has superior features comparing to this conventional TIG method as follows. At the viewpoint of underwater environment, (1) an outage term reduction (no drainage water). (2) a radioactive exposure dose reduction for personnel. At that of YAG laser welding, (1) A narrower HAZ. (2) A smaller distortion. (3) A few cladding layers. A YAG laser CRC test in underwater

  19. A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing

    CERN Document Server

    Gelin, Chrystel

    2013-01-01

    Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion method...

  20. The importance of Forensic research in the Nuclear Power Industry. What the OECD Three Mile Island reactor vessel investigation. Means to the future of commercial nuclear power

    International Nuclear Information System (INIS)

    Rogers, K.C.

    1994-01-01

    TMI-2 altered the perception of the likelihood of severe accidents and their precursors and shortly after the accident, changes began at the NRC. NRC required its nuclear power licensees to make a rather large number of back fits to respond to the lessons learned; NRC broadened the study of severe accident phenomena (focus on studies involving molten core materials); other lessons learned concerned the severe accident source terms and the shift from a deterministic tradition point of view to a probabilistic risk assessment formalism. A Revised Severe Accident Research Program Plan was issued in 1989. A review of what was known before the TMI-Vessel Investigation Project and what was not known, is presented

  1. R.M.S Titanic 2003 Expedition on the Russian Research Vessel Akademik Mstislav Keldysh between 20030622 and 20030702

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — As the leading ocean agency, and as per the Guidelines for Research, Exploration and Salvage of RMS Titanic, issued under the authority of the RMS Titanic Maritime...

  2. Vessel Operator System

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Operator cards are required for any operator of a charter/party boat and or a commercial vessel (including carrier and processor vessels) issued a vessel permit from...

  3. Jellyfish inspired underwater unmanned vehicle

    Science.gov (United States)

    Villanueva, Alex; Bresser, Scott; Chung, Sanghun; Tadesse, Yonas; Priya, Shashank

    2009-03-01

    An unmanned underwater vehicle (UUV) was designed inspired by the form and functionality of a Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency of locomotion, lack of natural predators, proper form and shape to incorporate payload, and varying range of sizes. The structure consists of a hub body surrounded by bell segments and microcontroller based drive system. The locomotion of UUV was achieved by shape memory alloy "Biometal Fiber" actuation which possesses large strain and blocking force with adequate response time. The main criterion in design of UUV was the use of low-profile shape memory alloy actuators which act as artificial muscles. In this manuscript, we discuss the design of two Jellyfish prototypes and present experimental results illustrating the performance and power consumption.

  4. A MAC Protocol to Support Monitoring of Underwater Spaces †

    Science.gov (United States)

    Santos, Rodrigo; Orozco, Javier; Ochoa, Sergio F.; Meseguer, Roc; Eggly, Gabriel; Pistonesi, Marcelo F.

    2016-01-01

    Underwater sensor networks are becoming an important field of research, because of their everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geolocalization, ocean sampling and early tsunamis alert. The challenge of performing underwater communications is well known, provided that radio signals are useless in this medium, and a wired solution is too expensive. Therefore, the sensors in these networks transmit their information using acoustic signals that propagate well under water. This data transmission type not only brings an opportunity, but also several challenges to the implementation of these networks, e.g., in terms of energy consumption, data transmission and signal interference. In order to help advance the knowledge in the design and implementation of these networks for monitoring underwater spaces, this paper proposes a MAC protocol for acoustic communications between the nodes, based on a self-organized time division multiple access mechanism. The proposal was evaluated using simulations of a real monitoring scenario, and the obtained results are highly encouraging. PMID:27355950

  5. A MAC Protocol to Support Monitoring of Underwater Spaces

    Directory of Open Access Journals (Sweden)

    Rodrigo Santos

    2016-06-01

    Full Text Available Underwater sensor networks are becoming an important field of research, because of their everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills, oceanographic data collection, support for submarine geolocalization, ocean sampling and early tsunamis alert. The challenge of performing underwater communications is well known, provided that radio signals are useless in this medium, and a wired solution is too expensive. Therefore, the sensors in these networks transmit their information using acoustic signals that propagate well under water. This data transmission type not only brings an opportunity, but also several challenges to the implementation of these networks, e.g., in terms of energy consumption, data transmission and signal interference. In order to help advance the knowledge in the design and implementation of these networks for monitoring underwater spaces, this paper proposes a MAC protocol for acoustic communications between the nodes, based on a self-organized time division multiple access mechanism. The proposal was evaluated using simulations of a real monitoring scenario, and the obtained results are highly encouraging.

  6. Underwater sympathetic detonation of pellet explosive

    Science.gov (United States)

    Kubota, Shiro; Saburi, Tei; Nagayama, Kunihito

    2017-06-01

    The underwater sympathetic detonation of pellet explosives was taken by high-speed photography. The diameter and the thickness of the pellet were 20 and 10 mm, respectively. The experimental system consists of the precise electric detonator, two grams of composition C4 booster and three pellets, and these were set in water tank. High-speed video camera, HPV-X made by Shimadzu was used with 10 Mfs. The underwater explosions of the precise electric detonator, the C4 booster and a pellet were also taken by high-speed photography to estimate the propagation processes of the underwater shock waves. Numerical simulation of the underwater sympathetic detonation of the pellet explosives was also carried out and compared with experiment.

  7. Underwater Grass Comeback Helps Chesapeake Bay

    Science.gov (United States)

    The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.

  8. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

    Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.

  9. Sensor network architectures for monitoring underwater pipelines.

    Science.gov (United States)

    Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren

    2011-01-01

    This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (radio frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.

  10. Underwater sounds near a fuel receiving facility in western Hong Kong: relevance to dolphins.

    Science.gov (United States)

    Würsig, B; Greene, C R

    2002-08-01

    Western Hong Kong is home to two species of marine mammals: Indo-Pacific humpbacked dolphins (Sousa chinensis) and finless porpoises (Neophocaena phocaenoides). Both are threatened in many parts of their range in southeast Asia [for example, International Biological Research Institute Reports 9 (1997), 41; Asian Marine Biology 14 (1997) 111]. In 1998, when the new Hong Kong International Airport opened in western Hong Kong, small tankers (about 100 m long, cargo capacity about 6300 metric tons) began delivering fuel to the Aviation Fuel Receiving Facility (AFRF) just off Sha Chau Island, north of the airport. Calibrated sound recordings were taken over a 4-day period from a quiet, anchored boat at distances 80-2000 m from aviation fuel delivery activities at the AFRF. From the recordings, 143 sections were selected for analysis. Narrowband spectral densities on the sound pressures were computed, and one-third octave band levels were derived for center frequencies from 10 to 16,000 Hz. Broadband levels, viz. 10-20,000 Hz. were also computed. The results showed that the Sha Chau area is normally noisy underwater, with the lowest broadband levels measured corresponding to those expected during a storm at sea (sea state 6). This background noise is believed to come largely from heavy vessel traffic in the Urmston Road to the north and east of Sha Chau and from vessels in the Pearl River Estuary to the West. The sound levels from the AFRF tankers are comparable to the levels measured from similar- and smaller-sized supply vessels supporting offshore oil exploration. The strongest sounds recorded were from a tanker leaving the AFRF at distance 100 m from the hydrophone, for which the one-third octave band level at 100 Hz was 141 dB re 1 microPa (spectrum level 127 dB re 1 microPa2/Hz) and the 10-20,000 Hz broadband level was 146 dB. At distances of 100 m or more and frequencies above 300 Hz, the one-third octave band levels were less than 130 dB (spectrum level 111 dB re

  11. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)

  12. Underwater noise levels in UK waters

    OpenAIRE

    Merchant, Nathan D.; Brookes, Kate L.; Faulkner, Rebecca C.; Bicknell, Anthony W. J.; Godley, Brendan J.; Witt, Matthew J.

    2016-01-01

    Underwater noise from human activities appears to be rising, with ramifications for acoustically sensitive marine organisms and the functioning of marine ecosystems. Policymakers are beginning to address the risk of ecological impact, but are constrained by a lack of data on current and historic noise levels. Here, we present the first nationally coordinated effort to quantify underwater noise levels, in support of UK policy objectives under the EU Marine Strategy Framework Directive (MSFD). ...

  13. Affordable underwater wireless optical communication using LEDs

    Science.gov (United States)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

    In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication

  14. An underwater optical wireless communication network

    Science.gov (United States)

    Arnon, Shlomi

    2009-08-01

    The growing need for underwater observation and sub-sea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, bio-geochemical, evolutionary and ecological changes in the sea, ocean and lake environments and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. We present models of three kinds of optical wireless communication links a) a line-of-sight link, b) a modulating retro-reflector link and c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered lighted it was possible to mitigate this decrease in some cases. We conclude from the analysis that a high data rate underwater optical wireless network is a feasible solution for emerging applications such as UUV to UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  15. Examination of VVER-1000 Reactor Pressure Vessel

    International Nuclear Information System (INIS)

    Matokovic, A.; Picek, E.; Markulin, K.

    2008-01-01

    The increasing demand of a higher level of safety in the operation of the nuclear power plants requires the utilisation of more precise automated equipment to perform in-service inspections. That has been achieved by technological advances in computer technology, in robotics, in examination probe technology with the development of the advanced inspection technique and has also been due to the considerable and varied experience gained in the performance of such inspections. In-service inspection of reactor pressure vessel, especially Russian-designed WWER-1000 presents one of the most important and extensive examination of nuclear power plants primary circuit components. Such examination demand high standards of inspection technology, quality and continual innovation in the field of non-destructive testing advanced technology. A remote underwater contact ultrasonic technique is employed for the examination of the base metal of vessel and reactor welds, whence eddy current method is applied for clad surface examinations. Visual testing is used for examination of the vessel interior. The movement of inspection probes and data positioning are assured by using new reactor pressure vessel tool concept that is fully integrated with inspection systems. The successful performance of reactor pressure vessel is attributed thorough pre-outage planning, training and successful performance demonstration qualification of chosen non-destructive techniques on the specimens with artificial and/or real defects. Furthermore, use of advanced approach of inspection through implementation the state-of-the-art examination equipment significantly reduced the inspection time, radiation exposure to examination personnel, shortening nuclear power plant outage and cutting the total inspection costs. This paper presents advanced approach in the reactor pressure vessel in-service inspections and it is especially developed for WWER-1000 nuclear power plants.(author)

  16. A Dual Communication and Imaging Underwater Acoustic System

    Science.gov (United States)

    Fu, Tricia C.

    A dual communication and imaging underwater acoustic system is proposed and developed throughout this dissertation. Due to the wide variation in underwater channel characteristics, the research here focuses more on robustness to multipath in the shallow underwater acoustic environment, rather than high bit-rate applications and signaling schemes. Lower bit-rate (in the hundreds of bits per second (bps) to low kbps), applications such as the transfer of ecological telemetry data, e.g. conductivity or temperature data, are the primary focus of this dissertation. The parallels between direct sequence spread spectrum in digital communication and pulse-echo with pulse compression in imaging, and channel estimation in communication and range profile estimation in imaging are drawn, leading to a unified communications and imaging platform. A digital communication algorithm for channel order and channel coefficient estimation and symbol demodulation using Matching Pursuit (MP) with Generalized Multiple Hypothesis Testing (GMHT) is implemented in programmable DSP in real time with field experiment results in varying underwater environments for the single receiver (Rx), single transmitter (Tx) case. The custom and off-the-shelf hardware used in the single receiver, single transmitter set of experiments are detailed as well. This work is then extended to the single-input multiple-output (SIMO) case, and then to the full multiple-input multiple-output (MIMO) case. The results of channel estimation are used for simple range profile imaging reconstructions. Successful simulated and experimental results for both transducer array configurations are presented and analyzed. Non-real-time symbol demodulation and channel estimation is performed using experimental data from a scaled testing environment. New hardware based on cost-effective fish-finder transducers for a 6 Rx--1 Tx and 6 Rx--4 Tx transducer array is detailed. Lastly, in an application that is neither communication nor

  17. Research on friction coefficient of nuclear Reactor Vessel Internals Hold Down Spring: Stress coefficient test analysis method

    International Nuclear Information System (INIS)

    Linjun, Xie; Guohong, Xue; Ming, Zhang

    2016-01-01

    Graphical abstract: HDS stress coefficient test apparatus. - Highlights: • This paper performs mathematic deduction to the physical model of Hold Down Spring (HDS), establishes a mathematic model of axial load P and stress, stress coefficient and friction coefficient and designs a set of test apparatuses for simulating the pretightening process of the HDS for the first time according to a model similarity criterion. • The mathematical relation between the load and the strain is obtained about the HDS, and the mathematical model of the stress coefficient and the friction coefficient is established. So, a set of test apparatuses for obtaining the stress coefficient is designed according to the model scaling criterion and the friction coefficient of the K1000 HDS is calculated to be 0.336 through the obtained stress coefficient. • The relation curve between the theoretical load and the friction coefficient is obtained through analysis and indicates that the change of the friction coefficient f would influence the pretightening load under the condition of designed stress. The necessary pretightening load in the design process is calculated to be 5469 kN according to the obtained friction coefficient. Therefore, the friction coefficient and the pretightening load under the design conditions can provide accurate pretightening data for the analysis and design of the reactor HDS according to the operations. - Abstract: This paper performs mathematic deduction to the physical model of Hold Down Spring (HDS), establishes a mathematic model of axial load P and stress, stress coefficient and friction coefficient and designs a set of test apparatuses for simulating the pretightening process of the HDS for the first time according to a model similarity criterion. By carrying out tests and researches through a stress testing technique, P–σ curves in loading and unloading processes of the HDS are obtained and the stress coefficient k f of the HDS is obtained. So, the

  18. Research on friction coefficient of nuclear Reactor Vessel Internals Hold Down Spring: Stress coefficient test analysis method

    Energy Technology Data Exchange (ETDEWEB)

    Linjun, Xie, E-mail: linjunx@zjut.edu.cn [College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014 (China); Guohong, Xue; Ming, Zhang [Shanghai Nuclear Engineering Research & Design Institute, Shanghai 200233 (China)

    2016-08-01

    Graphical abstract: HDS stress coefficient test apparatus. - Highlights: • This paper performs mathematic deduction to the physical model of Hold Down Spring (HDS), establishes a mathematic model of axial load P and stress, stress coefficient and friction coefficient and designs a set of test apparatuses for simulating the pretightening process of the HDS for the first time according to a model similarity criterion. • The mathematical relation between the load and the strain is obtained about the HDS, and the mathematical model of the stress coefficient and the friction coefficient is established. So, a set of test apparatuses for obtaining the stress coefficient is designed according to the model scaling criterion and the friction coefficient of the K1000 HDS is calculated to be 0.336 through the obtained stress coefficient. • The relation curve between the theoretical load and the friction coefficient is obtained through analysis and indicates that the change of the friction coefficient f would influence the pretightening load under the condition of designed stress. The necessary pretightening load in the design process is calculated to be 5469 kN according to the obtained friction coefficient. Therefore, the friction coefficient and the pretightening load under the design conditions can provide accurate pretightening data for the analysis and design of the reactor HDS according to the operations. - Abstract: This paper performs mathematic deduction to the physical model of Hold Down Spring (HDS), establishes a mathematic model of axial load P and stress, stress coefficient and friction coefficient and designs a set of test apparatuses for simulating the pretightening process of the HDS for the first time according to a model similarity criterion. By carrying out tests and researches through a stress testing technique, P–σ curves in loading and unloading processes of the HDS are obtained and the stress coefficient k{sub f} of the HDS is obtained. So, the

  19. Superheated Water-Cooled Small Modular Underwater Reactor Concept

    Directory of Open Access Journals (Sweden)

    Koroush Shirvan

    2016-12-01

    Full Text Available A novel fully passive small modular superheated water reactor (SWR for underwater deployment is designed to produce 160 MWe with steam at 500ºC to increase the thermodynamic efficiency compared with standard light water reactors. The SWR design is based on a conceptual 400-MWe integral SWR using the internally and externally cooled annular fuel (IXAF. The coolant boils in the external channels throughout the core to approximately the same quality as a conventional boiling water reactor and then the steam, instead of exiting the reactor pressure vessel, turns around and flows downward in the central channel of some IXAF fuel rods within each assembly and then flows upward through the rest of the IXAF pins in the assembly and exits the reactor pressure vessel as superheated steam. In this study, new cladding material to withstand high temperature steam in addition to the fuel mechanical and safety behavior is investigated. The steam temperature was found to depend on the thermal and mechanical characteristics of the fuel. The SWR showed a very different transient behavior compared with a boiling water reactor. The inter-play between the inner and outer channels of the IXAF was mainly beneficial except in the case of sudden reactivity insertion transients where additional control consideration is required.

  20. The Modular Optical Underwater Survey System

    Directory of Open Access Journals (Sweden)

    Ruhul Amin

    2017-10-01

    Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.

  1. High-resolution geophysical data collected aboard the U.S. Geological Survey research vessel Rafael to supplement existing datasets from Buzzards Bay and Vineyard Sound, Massachusetts

    Science.gov (United States)

    Pendleton, Elizabeth A.; Andrews, Brian D.; Danforth, William W.; Foster, David S.

    2014-01-01

    Geophysical and geospatial data were collected in Buzzards Bay, in the shallow-water areas of Vineyard Sound, and in the nearshore areas off the eastern Elizabeth Islands and northern coast of Martha's Vineyard, Massachusetts, on the U.S. Geological Survey research vessel Rafael between 2007 and 2011, in a collaborative effort between the U.S. Geological Survey and the Massachusetts Office of Coastal Zone Management. This report describes results of this collaborative effort, which include mapping the geology of the inner shelf zone of the Elizabeth Islands and the sand shoals of Vineyard Sound and studying geologic processes that contribute to the evolution of this area. Data collected during these surveys include: bathymetry, acoustic backscatter, seismic-reflection profiles, sound velocity profiles, and navigation. The long-term goals of this project are (1) to provide high-resolution geophysical data that will support research on the influence of sea-level change and sediment supply on coastal evolution and (2) to inventory subtidal marine habitats and their distribution within the coastal zone of Massachusetts.

  2. Immunological quality and performance of tumor vessel-targeting CAR-T cells prepared by mRNA-EP for clinical research.

    Science.gov (United States)

    Inoo, Kanako; Inagaki, Ryo; Fujiwara, Kento; Sasawatari, Shigemi; Kamigaki, Takashi; Nakagawa, Shinsaku; Okada, Naoki

    2016-01-01

    We previously reported that tumor vessel-redirected T cells, which were genetically engineered with chimeric antigen receptor (CAR) specific for vascular endothelial growth factor receptor 2 (VEGFR2), demonstrated significant antitumor effects in various murine solid tumor models. In the present study, we prepared anti-VEGFR2 CAR-T cells by CAR-coding mRNA electroporation (mRNA-EP) and analyzed their immunological characteristics and functions for use in clinical research. The expression of anti-VEGFR2 CAR on murine and human T cells was detected with approximately 100% efficiency for a few days, after peaking 6-12 hours after mRNA-EP. Triple transfer of murine anti-VEGFR2 CAR-T cells into B16BL6 tumor-bearing mice demonstrated an antitumor effect comparable to that for the single transfer of CAR-T cells engineered with retroviral vector. The mRNA-EP did not cause any damage or defects to human T-cell characteristics, as determined by viability, growth, and phenotypic parameters. Additionally, two kinds of human anti-VEGFR2 CAR-T cells, which expressed different CAR construction, differentiated to effector phase with cytokine secretion and cytotoxic activity in antigen-specific manner. These results indicate that our anti-VEGFR2 CAR-T cells prepared by mRNA-EP have the potential in terms of quality and performance to offer the prospect of safety and efficacy in clinical research as cellular medicine.

  3. Underwater Noise Modeling in Lithuanian Area of the Baltic Sea

    Directory of Open Access Journals (Sweden)

    Donatas Bagočius

    2017-09-01

    Full Text Available Along with rising awareness of public and scientific societies about environmental and ecological impacts of underwater noise, the need for underwater noise modelling in the shallow Lithuanian area of Baltic Sea emerged. Marine Strategy Framework Directive issues regarding underwater noise indicators refers to possibility of evaluation of Good Environmental State using underwater noise measurements as well as possibility to model underwater noise. Main anthropogenic underwater noise contributor in the Seas is the shipping lanes as known due to date, with no exclusion of Lithuanian Baltic Sea area. In this manuscript, it is presented the methods of development of simplistic underwater ambient noise model purposed for computation of underwater soundscape in shallow area of the Lithuanian Baltic Sea.

  4. Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

    NARCIS (Netherlands)

    Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José

    2012-01-01

    The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for

  5. Magnetohydrodynamic underwater vehicular propulsion systems

    International Nuclear Information System (INIS)

    Swallom, D.W.; Sadovnik, I.; Gibbs, J.S.; Gurol, H.; Nguyen, L.

    1990-01-01

    The development of magnetohydrodynamic propulsion systems for underwater vehicles is discussed. According to the authors, it is a high risk endeavor that offers the possibility of a number of significant advantages over conventional propeller propulsion systems. These advantages may include the potential for greater stealth characteristics, increased maneuverability, enhanced survivability, elimination of cavitation limits, and addition of a significant emergency propulsion system. The possibility of increased stealth is by far the most important advantage. A conceptual design study has been completed with numerical results that shows that these advantages may be obtained with a magnetohydrodynamic propulsion system in an annular configuration externally surrounding a generic study submarine that is neutrally buoyant and can operate with the existing submarine propulsion system power plant. The classical submarine mission requirements make the use of these characteristics of the magnetohydrodynamic propulsion system particularly appropriate for submarine missions. The magnetohydrodynamic annular propulsion system for a generic attack class submarine has been designed to take advantage of the magnetohydrodynamic thruster characteristics

  6. Routing strategies for underwater gliders

    Science.gov (United States)

    Davis, Russ E.; Leonard, Naomi E.; Fratantoni, David M.

    2009-02-01

    Gliders are autonomous underwater vehicles that achieve long operating range by moving at speeds comparable to those of, or slower than, typical ocean currents. This paper addresses routing gliders to rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory "ray" equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as measured by objective mapping error, of arrays of vehicles. In order to produce data sets that are readily interpretable, both approaches focus sampling near predetermined "ideal tracks" by measuring mapping skill only on those tracks, which are laid out with overall mapping skill in mind. One approach directly selects each vehicle's headings to maximize instantaneous mapping skill integrated over the entire array. Because mapping skill decreases when measurements are clustered, this method automatically coordinates glider arrays to maintain spacing. A simpler method that relies on manual control for array coordination employs a first-order control loop to balance staying close to the ideal track and maintaining vehicle speed to maximize mapping skill. While the various techniques discussed help in dealing with the slow speed of gliders, nothing can keep performance from being degraded when current speeds are comparable to vehicle speed. This suggests that glider utility could be greatly enhanced by the ability to operate high speeds for short periods when currents are strong.

  7. An Improved Dark Channel-Based Algorithm for Underwater Image Restoration

    Science.gov (United States)

    Chen, Po-Fang; Guo, Jun-Kai; Sung, Chia-Chi; Chang, Herng-Hua

    Underwater imaging is crucial to a wide variety of research and realistic applications in marine biology, water fauna identification and assessment, archaeology, mine detection, oceanic mapping, and autonomous underwater robotics. However, due to specific propagation properties of light in water such as absorption and scattering as well as unstable environment such as light changing and water turbidness, the images captured are highly disturbed with low contrast, blurring, darkness, and color diminishing. This paper proposes a new underwater image restoration algorithm that consists of three major phases: haze removal, color correction, and contrast enhancement. To estimate the transmission coefficient function, we first compute the dark channel map, which is the set of "dark" pixels having very low intensity values in at least one RGB color channel. To accommodate the blue color distortion phenomenon, the red channel value is excluded from the calculation if the peak histogram intensity is smaller than a specified threshold. To optimize the medium transmission map, we adopt the matting Laplacian matrix associated with the sparse linear system to generate a cost function, followed by the guided filtering method to accelerate the computation. Finally, the contrast limited adaptive histogram equalization method is used to enhance the contrast while maintaining the color fidelity. We have applied this new approach to a wide variety of underwater images. Experimental results indicated that this new method is of potential in facilitating the interpretation and perception of underwater images in the fields of ocean engineering, ocean biology, and ocean science.

  8. A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

    Directory of Open Access Journals (Sweden)

    Yin Zhao

    2015-01-01

    Full Text Available Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications.

  9. Will an underwater robot ever replace the diver? A rather poor progress or a great success?

    Directory of Open Access Journals (Sweden)

    Olejnik Adam

    2016-03-01

    Full Text Available The article deals with the subject matter related to the development of underwater works technologies. Nearly 15 years ago one of the authors of this study published a material in the monthly magazine of “Podwodny Świat” (The Underwater World entitled “The Future of Underwater Technologies – the diver or the robot?” where he noted that the time of great changes in technologies aimed at researching the depths and conducting works under water has arrived. This new era mainly consists in the fact that on an increasing number of occasions the diver is replaced by an underwater robot. The presented material constitutes an attempt to provide an answer to the question whether the then posed thesis is still valid. In the article the authors discuss issues concerned with the development of techniques and technologies applied in the conquest of depths that leads them to the conclusion that the previously observed tendency of a double-tracked development of underwater technologies is gaining in strength, which causes that the works and exploration of bodies of water at great depths will be possible only with the use of unmanned techniques.

  10. Nonuniform Illumination Correction Algorithm for Underwater Images Using Maximum Likelihood Estimation Method

    Directory of Open Access Journals (Sweden)

    Sonali Sachin Sankpal

    2016-01-01

    Full Text Available Scattering and absorption of light is main reason for limited visibility in water. The suspended particles and dissolved chemical compounds in water are also responsible for scattering and absorption of light in water. The limited visibility in water results in degradation of underwater images. The visibility can be increased by using artificial light source in underwater imaging system. But the artificial light illuminates the scene in a nonuniform fashion. It produces bright spot at the center with the dark region at surroundings. In some cases imaging system itself creates dark region in the image by producing shadow on the objects. The problem of nonuniform illumination is neglected by the researchers in most of the image enhancement techniques of underwater images. Also very few methods are discussed showing the results on color images. This paper suggests a method for nonuniform illumination correction for underwater images. The method assumes that natural underwater images are Rayleigh distributed. This paper used maximum likelihood estimation of scale parameter to map distribution of image to Rayleigh distribution. The method is compared with traditional methods for nonuniform illumination correction using no-reference image quality metrics like average luminance, average information entropy, normalized neighborhood function, average contrast, and comprehensive assessment function.

  11. LopheliaII2012: Coral Research on Oil Rigs in the Gulf of Mexico on TDI-Brooks Vessel Brooks McCall between 2012-07-12 and 2012-07-24

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The final year of a multi-year effort to study Lophelia coral communities in the Gulf of Mexico is occurring on the TDI-Brooks research vessel, Brooks McCall,...

  12. Erratum: Google Earth as Geoscience Data Browser Project: Development of a Tool to Convert JAMSTEC Research Vessel Navigation Data to KML [Data Science Journal, Volume 8, 30 March 2009. S85-S91

    Directory of Open Access Journals (Sweden)

    Y Yamagishi

    2009-07-01

    Full Text Available The following PDF indicates errata for the original article entitled "Google Earth as Geoscience Data Browser Project: Development of a Tool to Convert JAMSTEC Research Vessel Navigation Data to KML" by Y Yamagishi, H Nagao, K Suzuki, H Tamura, T Hatakeyama, H Yanaka and S Tsuboi.

  13. Underwater Wet Repair Welding of API 5L X65M Pipeline Steel

    Directory of Open Access Journals (Sweden)

    Rogalski Grzegorz

    2017-04-01

    Full Text Available This paper presents results of the research of effect of polymer insulation of pipeline made of API 5L X65M steel as well as underwater wet welding parameters on properties of joints made by covered electrodes. Effect of heat input on structure and hardness of joints during repair of underwater pipeline was analyzed. Welding defects like microcracks, micro-lacks of fusion, slag inclusions, as well as HAZ hardness increase over an assumed acceptance criterion for welded joints in pipes without anticorrosion polymer insulation, were identified. A significant effect of polimer insulation on structure and properties of welded joints, was found.

  14. Depth Level Control System using Peripheral Interface Controller for Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Muhamad Fadli Ghani

    2013-01-01

    Full Text Available This research explained on a design and development of an Automatic Depth Control System for underwater vehicle. Definition of underwater vehicle is a robotic sub-sea that is a part of the emerging field of autonomous and unmanned vehicles. This project shows the implementation’s development of an Automatic Depth Control System on a test prototyping vehicle especially involved small-scale and low cost sub-sea robots. The Automatic Depth Control System assembled with mechanical system and module of electronic system for development of a controller.

  15. Recent developments in underwater repair welding

    International Nuclear Information System (INIS)

    Offer, H.P.; Chapman, T.L.; Willis, E.R.; Maslakowski, J.; Van Diemen, P.; Smith, B.W.

    2001-01-01

    As nuclear plants age and reactor internal components begin to show increased evidence of age-related phenomena such as corrosion and fatigue, interest in the development of cost-effective mitigation and repair remedies grows. One technology currently receiving greater development and application program focus is underwater welding. Underwater welding, as used herein, is the application of weld metal to a substrate surface that is wet, but locally dry in the immediate area surrounding the welding torch. The locally dry environment is achieved by the use of a mechanical device that is specifically designed for water exclusion from the welding torch, surface to be welded, and the welding groove. This paper will explore recent developments in the use of underwater welding as a mitigation and repair technique. (author)

  16. The key kinematic determinants of undulatory underwater swimming at maximal velocity.

    Science.gov (United States)

    Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

    2016-01-01

    The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

  17. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid

    2016-01-01

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF......). This paper presents an application of the Udwadia-Kalaba Equation for modelling the Reconfigurable Underwater Robots. The constraints developed to enforce the rigid connection between robots in the system is derived through restrictions on relative distances and orientations. To avoid singularities...... in the orientation and, thereby, allow the robots to undertake any relative configuration the attitude is represented in Euler parameters....

  18. Immunological quality and performance of tumor vessel-targeting CAR-T cells prepared by mRNA-EP for clinical research

    Directory of Open Access Journals (Sweden)

    Kanako Inoo

    2016-01-01

    Full Text Available We previously reported that tumor vessel-redirected T cells, which were genetically engineered with chimeric antigen receptor (CAR specific for vascular endothelial growth factor receptor 2 (VEGFR2, demonstrated significant antitumor effects in various murine solid tumor models. In the present study, we prepared anti-VEGFR2 CAR-T cells by CAR-coding mRNA electroporation (mRNA-EP and analyzed their immunological characteristics and functions for use in clinical research. The expression of anti-VEGFR2 CAR on murine and human T cells was detected with approximately 100% efficiency for a few days, after peaking 6–12 hours after mRNA-EP. Triple transfer of murine anti-VEGFR2 CAR-T cells into B16BL6 tumor-bearing mice demonstrated an antitumor effect comparable to that for the single transfer of CAR-T cells engineered with retroviral vector. The mRNA-EP did not cause any damage or defects to human T-cell characteristics, as determined by viability, growth, and phenotypic parameters. Additionally, two kinds of human anti-VEGFR2 CAR-T cells, which expressed different CAR construction, differentiated to effector phase with cytokine secretion and cytotoxic activity in antigen-specific manner. These results indicate that our anti-VEGFR2 CAR-T cells prepared by mRNA-EP have the potential in terms of quality and performance to offer the prospect of safety and efficacy in clinical research as cellular medicine.

  19. Underwater Acoustic Wireless Sensor Networks: Advances and Future Trends in Physical, MAC and Routing Layers

    NARCIS (Netherlands)

    Climent, S.; Sanchez, A.; Capella, J.V.; Meratnia, Nirvana; Serrano, J.J.

    2014-01-01

    This survey aims to provide a comprehensive overview of the current research on underwater wireless sensor networks, focusing on the lower layers of the communication stack, and envisions future trends and challenges. It analyzes the current state-of-the-art on the physical, medium access control

  20. Improvement to reactor vessel

    International Nuclear Information System (INIS)

    1974-01-01

    The vessel described includes a prestressed concrete vessel containing a chamber and a removable cover closing this chamber. The cover is in concrete and is kept in its closed position by main and auxiliary retainers, comprising fittings integral with the concrete of the vessel. The auxiliary retainers pass through the concrete of the cover. This improvement may be applied to BWR, PWR and LMFBR type reactor vessel [fr

  1. Investigation on dissimilar underwater friction stir lap welding of 6061-T6 aluminum alloy to pure copper

    International Nuclear Information System (INIS)

    Zhang, Jingqing; Shen, Yifu; Yao, Xin; Xu, Haisheng; Li, Bo

    2014-01-01

    Highlights: • 6061-T6 Al and pure Cu were successfully underwater friction stir lap welded. • The underwater weld was analyzed via comparing with the classical weld. • The oxidation of Cu was prevented via the external water. • The amount of Al–Cu intermetallic was decreased by the external water. • The thickness of Al–Cu diffusion interlayer was decreased by the external water. - Abstract: Friction stir welding (classical FSW) is considered to offer advantages over the traditional fusion welding techniques in terms of dissimilar welding. However, some challenges still exist in the dissimilar friction stir lap welding of the aluminum/copper (Al/Cu) metallic couple, among which the formation of the Al–Cu intermetallic compounds is the major problem. In the present research, due to the fact that the formation and growth of the intermetallic are significantly controlled by the thermal history, the underwater friction stir welding (underwater FSW) was employed for fabricating the weld, and the weld obtained by underwater FSW (underwater weld) was analyzed via comparing with the weld obtained under same parameters by classical FSW (classical weld). In order to investigate the effect of the external water on the thermal history, the K-type thermocouple was utilized to measure the weld temperature, and it is found that the water could decrease the peak temperature and shorten the thermal cycle time. The XRD results illustrate that the interface of the welds mainly consist of the Al–Cu intermetallic compounds such as CuAl 2 and Cu 9 Al 4 together with some amounts of Al and Cu, and it is also found that the amount of the intermetallic in the underwater weld is obvious less than in the classical weld. The SEM images and the EDS line scan results also illustrate that the Al–Cu diffusion interlayer at the Al–Cu interface of the underwater weld was obviously thinner than that of the classical weld

  2. The Control Packet Collision Avoidance Algorithm for the Underwater Multichannel MAC Protocols via Time-Frequency Masking

    Directory of Open Access Journals (Sweden)

    Yang Yu

    2016-01-01

    Full Text Available Establishing high-speed and reliable underwater acoustic networks among multiunmanned underwater vehicles (UUVs is basic to realize cooperative and intelligent control among different UUVs. Nevertheless, different from terrestrial network, the propagation speed of the underwater acoustic network is 1500 m/s, which makes the design of the underwater acoustic network MAC protocols a big challenge. In accordance with multichannel MAC protocols, data packets and control packets are transferred through different channels, which lowers the adverse effect of acoustic network and gradually becomes the popular issues of underwater acoustic networks MAC protocol research. In this paper, we proposed a control packet collision avoidance algorithm utilizing time-frequency masking to deal with the control packets collision in the control channel. This algorithm is based on the scarcity of the noncoherent underwater acoustic communication signals, which regards collision avoiding as separation of the mixtures of communication signals from different nodes. We first measure the W-Disjoint Orthogonality of the MFSK signals and the simulation result demonstrates that there exists time-frequency mask which can separate the source signals from the mixture of the communication signals. Then we present a pairwise hydrophones separation system based on deep networks and the location information of the nodes. Consequently, the time-frequency mask can be estimated.

  3. ALICE HMPID Radiator Vessel

    CERN Multimedia

    2003-01-01

    View of the radiator vessels of the ALICE/HMPID mounted on the support frame. Each HMPID module is equipped with 3 indipendent radiator vessels made out of neoceram and fused silica (quartz) windows glued together. The spacers inside the vessel are needed to stand the hydrostatic pressure. http://alice-hmpid.web.cern.ch/alice-hmpid

  4. IVO develops a new repair technique for underwater sites. Viscous doughlike substance underwater cracks

    Energy Technology Data Exchange (ETDEWEB)

    Klingstedt, G.; Leisio, C. [ed.

    1998-07-01

    A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland

  5. Underwater Advanced Time-Domain Electromagnetic System

    Science.gov (United States)

    2017-03-03

    sufficiently waterproofed ...................................................................... 20 Objective: Calibration method can be used both topside... additional background variability is observed at early times, as illustrated in Figure 15. The layout of this figure is the same as Figure 14. Now the...are discussed in the following sections and summarized in Table 5. Objective: System is sufficiently waterproofed The array remained underwater up to

  6. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    Science.gov (United States)

    2015-01-01

    Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

  7. Detection of Underwater UXOs in Mud

    Science.gov (United States)

    2013-04-01

    2nd International Conference on Underwater Acoustic Measurements, Crete, Greece, 2007. 16 [10] P.T. Gough and D.W. Hawkins “Imaging algorithms...course. Runs 275 and 325 folla.v the same trad < and run 322 foUows a track on the opposite side of the swath. The LF SAS image of run 325 is shown

  8. Adaptive turbo equalization for underwater acoustic communication

    NARCIS (Netherlands)

    Cannelli, L; Leus, G.; Dol, H.S.; Walree, P.A. van

    2013-01-01

    In this paper a multiband transceiver designed for underwater channels is presented. Multi-branch filtering at the receiver is used to leverage the diversity offered by a multi-scale multi-lag scenario. The multi-branch bank of filters is constructed by estimating scale and delay coefficients

  9. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

    Anthropogenic noise emission in the marine environment has always been an environmental issue of serious concern. In particular, the noise generated during the installation of foundation piles is considered to be one of the most significant sources of underwater noise pollution. This is mainly

  10. Evolution: Fossil Ears and Underwater Sonar.

    Science.gov (United States)

    Lambert, Olivier

    2016-08-22

    A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.

  11. Underwater Photosynthesis of Submerged Plants – Recent Advances and Methods

    Science.gov (United States)

    Pedersen, Ole; Colmer, Timothy D.; Sand-Jensen, Kaj

    2013-01-01

    We describe the general background and the recent advances in research on underwater photosynthesis of leaf segments, whole communities, and plant dominated aquatic ecosystems and present contemporary methods tailor made to quantify photosynthesis and carbon fixation under water. The majority of studies of aquatic photosynthesis have been carried out with detached leaves or thalli and this selectiveness influences the perception of the regulation of aquatic photosynthesis. We thus recommend assessing the influence of inorganic carbon and temperature on natural aquatic communities of variable density in addition to studying detached leaves in the scenarios of rising CO2 and temperature. Moreover, a growing number of researchers are interested in tolerance of terrestrial plants during flooding as torrential rains sometimes result in overland floods that inundate terrestrial plants. We propose to undertake studies to elucidate the importance of leaf acclimation of terrestrial plants to facilitate gas exchange and light utilization under water as these acclimations influence underwater photosynthesis as well as internal aeration of plant tissues during submergence. PMID:23734154

  12. Stress analysis of pressure vessels

    International Nuclear Information System (INIS)

    Kim, B.K.; Song, D.H.; Son, K.H.; Kim, K.S.; Park, K.B.; Song, H.K.; So, J.Y.

    1979-01-01

    This interim report contains the results of the effort to establish the stress report preparation capability under the research project ''Stress analysis of pressure vessels.'' 1978 was the first year in this effort to lay the foundation through the acquisition of SAP V structural analysis code and a graphic terminal system for improved efficiency of using such code. Software programming work was developed in pre- and post processing, such as graphic presentation of input FEM mesh geometry and output deformation or mode shope patterns, which was proven to be useful when using the FEM computer code. Also, a scheme to apply fracture mechanics concept was developed in fatigue analysis of pressure vessels. (author)

  13. Research on the water hammer protection of the long distance water supply project with the combined action of the air vessel and over-pressure relief valve

    International Nuclear Information System (INIS)

    Li, D D; Jiang, J; Zhao, Z; Yi, W S; Lan, G

    2013-01-01

    We take a concrete pumping station as an example in this paper. Through the calculation of water hammer protection with a specific pumping station water supply project, and the analysis of the principle, mathematical models and boundary conditions of air vessel and over-pressure relief valve we show that the air vessel can protect the water conveyance system and reduce the transient pressure damage due to various causes. Over-pressure relief valve can effectively reduce the water hammer because the water column re-bridge suddenly stops the pump and prevents pipeline burst. The paper indicates that the combination set of air vessel and over-pressure relief valve can greatly reduce the quantity of the air valve and can eliminate the water hammer phenomenon in the pipeline system due to the vaporization and water column separation and re-bridge. The conclusion could provide a reference for the water hammer protection of long-distance water supply system

  14. Natural hydrocarbon seeps observation with underwater gliders and UV fluorescence sensor

    Science.gov (United States)

    Rochet, V.

    2016-02-01

    Hydrocarbons may leak to the near-surface from subsurface accumulations, from mature source rock, or by buoyancy along major cross-strata routes. The presence of migrating near-surface hydrocarbons can provide strong evidence for the presence of a working petroleum system, as well as valuable information on source, maturity, and migration pathways. Detection and characterization of hydrocarbons in the water column may then help to de-risk hydrocarbon plays at a very preliminary stage of an exploration program. In order to detect hydrocarbons in the water column, an underwater glider survey was conducted in an offshore frontier area. Driven by buoyancy variation, underwater gliders enable collecting data autonomously along the water column for weeks to months. Underwater gliders are regularly piloted from shore by satellite telemetry and do not require a surface supervising vessel resulting in substantial operational costs savings. The data compiled, over 700m depth of the water column, included temperature, salinity, pressure, dissolved oxygen and hydrocarbon components (phenanthrene and naphthalene) measured by "MINIFLUO" sensors to particularly target representative crude oil compounds Two gliders were deployed at sea, one from coast in shallow water and the other one offshore on the survey area. Both accurately squared the survey area following pre-defined lines and cross lines. Data files were transmitted by satellite telemetry in near real time during the performance of the mission for real time observations and appropriate re-positioning of the gliders. Using rechargeable underwater gliders increased reliability reducing the risk of leakage and associated logistics during operation at sea. Despite strong evidences of seabed seepages such as pockmarks, faults, etc, over the area of interest, no hydrocarbon indices were detected in the water column, which was confirmed later by seabed sample analysis. The use of glider platforms for hydrocarbon detection has

  15. KeproVt : underwater robotic system for visual inspection of nuclear reactor internals

    International Nuclear Information System (INIS)

    Cho, Byung-Hak; Byun, Seung-Hyun; Shin, Chang-Hoon; Yang, Jang-Bum; Song, Sung-Il; Oh, Jung-Mook

    2004-01-01

    An underwater robotic system for visual inspection of reactor vessel internals has been developed. The Korea Electric Power Robot for Visual Test (KeproVt) consists of an underwater robot, a vision processor based measuring unit, a master control station and a servo control station. The vision processor based measuring unit employs a first-of-a-kind engineering technology in nuclear robotics. The vision processor makes use of a camera located at the top of the water level referenced to the reactor center line to get an image of the robot, and computes the location and orientation of the robot. The robot guided by the control station with the measuring unit can be controlled to have any motion at any position in the reactor vessel with ±1 cm positioning and ±2 deg. heading accuracies with enough precision to inspect reactor internals. A simple and fast installation process is emphasized in the developed system. The installation process consists of hooking a vision camera on the guide rail of the refueling machine and putting a small robot (14.5 kg in weight) in the reactor cavity pool. The easy installation and automatic operation meet the demand of shortening the reactor outage and reducing the number of inspection personnel. The developed robotic system was successfully deployed at the Yonggwang Nuclear Unit 1 for the visual inspection of reactor internals

  16. Classification of underwater targets from autonomous underwater vehicle sampled bistatic acoustic scattered fields.

    Science.gov (United States)

    Fischell, Erin M; Schmidt, Henrik

    2015-12-01

    One of the long term goals of autonomous underwater vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based sensing, such as sidescan and synthetic aperture sonar, require an expensive payload on each outfitted vehicle and post-processing and/or image interpretation. A vehicle payload and machine learning classification methodology using bistatic angle dependence of target scattering amplitudes between a fixed acoustic source and target has been developed for onboard, fully autonomous classification with lower cost-per-vehicle. To achieve the high-quality, densely sampled three-dimensional (3D) bistatic scattering data required by this research, vehicle sampling behaviors and an acoustic payload for precision timed data acquisition with a 16 element nose array were demonstrated. 3D bistatic scattered field data were collected by an AUV around spherical and cylindrical targets insonified by a 7-9 kHz fixed source. The collected data were compared to simulated scattering models. Classification and confidence estimation were shown for the sphere versus cylinder case on the resulting real and simulated bistatic amplitude data. The final models were used for classification of simulated targets in real time in the LAMSS MOOS-IvP simulation package [M. Benjamin, H. Schmidt, P. Newman, and J. Leonard, J. Field Rob. 27, 834-875 (2010)].

  17. CFD and FEM Model of an Underwater Vehicle Propeller

    Directory of Open Access Journals (Sweden)

    Chruściel Tadeusz

    2014-10-01

    Full Text Available Within the framework of the project for design and optimization of the Remotely Operated Vehicle (ROV, research on its propulsion has been carried out. Te entire project was supported by CFD and FEM calculations taking into account the characteristics of the underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to create a measurable model of this task it was necessary to analyze numerical methodology of propeller design, along with the structure of a propellers with nozzles and contra-rotating propellers. It was confronted with theoretical solutions which included running of the analyzed propeller near an underwater vehicle. Also preliminary qualitative analyses of a simplified system with contra-rotating propellers and a semi-open duct were carried out. Te obtained results enabled to make a decision about the ROVs duct form. Te rapid prototyping SLS (Selective Laser Sintering method was used to fabricate a physical model of the propeller. As a consequence of this, it was necessary to verify the FEM model of the propeller, which based on the load obtained from the CFD model. Te article contains characteristics of the examined ROV, a theoretical basis of propeller design for the analyzed cases, and the results of CFD and FEM simulations.

  18. Underwater striling engine design with modified one-dimensional model

    Science.gov (United States)

    Li, Daijin; Qin, Kan; Luo, Kai

    2015-09-01

    Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs) is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA). The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

  19. Underwater striling engine design with modified one-dimensional model

    Directory of Open Access Journals (Sweden)

    Daijin Li

    2015-05-01

    Full Text Available Stirling engines are regarded as an efficient and promising power system for underwater devices. Currently, many researches on one-dimensional model is used to evaluate thermodynamic performance of Stirling engine, but in which there are still some aspects which cannot be modeled with proper mathematical models such as mechanical loss or auxiliary power. In this paper, a four-cylinder double-acting Stirling engine for Unmanned Underwater Vehicles (UUVs is discussed. And a one-dimensional model incorporated with empirical equations of mechanical loss and auxiliary power obtained from experiments is derived while referring to the Stirling engine computer model of National Aeronautics and Space Administration (NASA. The P-40 Stirling engine with sufficient testing results from NASA is utilized to validate the accuracy of this one-dimensional model. It shows that the maximum error of output power of theoretical analysis results is less than 18% over testing results, and the maximum error of input power is no more than 9%. Finally, a Stirling engine for UUVs is designed with Schmidt analysis method and the modified one-dimensional model, and the results indicate this designed engine is capable of showing desired output power.

  20. Argonne Liquid-Metal Advanced Burner Reactor : components and in-vessel system thermal-hydraulic research and testing experience - pathway forward.

    Energy Technology Data Exchange (ETDEWEB)

    Kasza, K.; Grandy, C.; Chang, Y.; Khalil, H.; Nuclear Engineering Division

    2007-06-30

    This white paper provides an overview and status report of the thermal-hydraulic nuclear research and development, both experimental and computational, conducted predominantly at Argonne National Laboratory. Argonne from the early 1970s through the early 1990s was the Department of Energy's (DOE's) lead lab for thermal-hydraulic development of Liquid Metal Reactors (LMRs). During the 1970s and into the mid-1980s, Argonne conducted thermal-hydraulic studies and experiments on individual reactor components supporting the Experimental Breeder Reactor-II (EBR-II), Fast Flux Test Facility (FFTF), and the Clinch River Breeder Reactor (CRBR). From the mid-1980s and into the early 1990s, Argonne conducted studies on phenomena related to forced- and natural-convection thermal buoyancy in complete in-vessel models of the General Electric (GE) Prototype Reactor Inherently Safe Module (PRISM) and Rockwell International (RI) Sodium Advanced Fast Reactor (SAFR). These two reactor initiatives involved Argonne working closely with U.S. industry and DOE. This paper describes the very important impact of thermal hydraulics dominated by thermal buoyancy forces on reactor global operation and on the behavior/performance of individual components during postulated off-normal accident events with low flow. Utilizing Argonne's LMR expertise and design knowledge is vital to the further development of safe, reliable, and high-performance LMRs. Argonne believes there remains an important need for continued research and development on thermal-hydraulic design in support of DOE's and the international community's renewed thrust for developing and demonstrating the Global Nuclear Energy Partnership (GNEP) reactor(s) and the associated Argonne Liquid Metal-Advanced Burner Reactor (LM-ABR). This white paper highlights that further understanding is needed regarding reactor design under coolant low-flow events. These safety-related events are associated with the transition

  1. Enhanced tropospheric BrO over Antarctic sea ice in mid winter observed by MAX-DOAS on board the research vessel Polarstern

    Directory of Open Access Journals (Sweden)

    T. Wagner

    2007-06-01

    Full Text Available We present Multi AXis-Differential Optical Absorption Spectroscopy (MAX-DOAS observations of tropospheric BrO carried out on board the German research vessel Polarstern during the Antarctic winter 2006. Polarstern entered the area of first year sea ice around Antarctica on 24 June 2006 and stayed within this area until 15 August 2006. For the period when the ship cruised inside the first year sea ice belt, enhanced BrO concentrations were almost continuously observed. Outside the first year sea ice belt, typically low BrO concentrations were found. Based on back trajectory calculations we find a positive correlation between the observed BrO differential slant column densities (ΔSCDs and the duration for which the air masses had been in contact with the sea ice surface prior to the measurement. While we can not completely rule out that in several cases the highest BrO concentrations might be located close to the ground, our observations indicate that the maximum BrO concentrations might typically exist in a (possibly extended layer around the upper edge of the boundary layer. Besides the effect of a decreasing pH of sea salt aerosol with altitude and therefore an increase of BrO with height, this finding might be also related to vertical mixing of air from the free troposphere with the boundary layer, probably caused by convection over the warm ocean surface at polynyas and cracks in the ice. Strong vertical gradients of BrO and O3 could also explain why we found enhanced BrO levels almost continuously for the observations within the sea ice. Based on our estimated BrO profiles we derive BrO mixing ratios of several ten ppt, which is slightly higher than many existing observations. Our observations indicate that enhanced BrO concentrations around Antarctica exist about one month earlier than observed by satellite instruments. From detailed radiative transfer simulations we find that MAX-DOAS observations are up to about one order of

  2. Water soluble ionic characteristics of Natural and Anthropogenic Aerosol Measured at Research Vessel Gisang 1 over the Yellow Sea during KORUS-AQ Campaign

    Science.gov (United States)

    Cha, J. W.; Shin, B.; Hee-Jung, K.; Yun Kyu, L.; Ryoo, S. B.

    2017-12-01

    The major compositions of water-soluble ionic species were collected in particle matter under 10 ?m (PM10) and 2.5 ?m (PM2.5) in diameter over the Yellow sea during KORUS-AQ (Korea-United States Air Quality Study) campaign using the research vessel Gisang 1 in 2016. These secondary ionic species (NH4+, SO42-, and NO3-) in PM10 and PM2.5 occupied 84 % and 89% of total analyzed species. The NH4+ had strong correlation with nss(non-sea salt)-SO42- in PM10 and PM2.5 and the NO3- had good correlation with Na+, Mg2+, and nss-Ca2+ in PM10 and NH4+ in PM2.5. The methanesulfonic acid (MSA,CH3SO3-) , a main source of natural sulfate over the sea, was observed high mass concentration and this study newly found that it trended to be increased over the Yellow sea in Northeast Asia at recently. The biogenic sulfur contribution to the total nss-SO42-, MSA/nss-SO42-ⅹ100 ratios, over the Yellow sea totally ranged from 1.4% to 9.2% in PM10 and from 0.68% to 9.5% in PM2.5 during the cruise. Therefore the biogenic nss-SO42- cannot be ignored especially in spring and early summer with elevated biological activity. We classified the high aerosol mass concentration cases; Asian dust case (AD), haze & mist case from Northeast China (HMNC), haze case from Korean peninsula (HKP), and haze case from Shandong peninsula in China (HSPC). In AD the ratio of NO3- to nss-SO42- in aerosol showed the mobile source more affected the sample of PM10 and the stationary source more contributed to that of PM2.5. The major chemical species in AD were CaCO3, Ca(NO3)2, Mg(NO3)2, Na(NO3)2, and sea salt. Thus, this study clearly showed that the dust particle reacted with gaseous nitric acid in PM10 of AD. In HKP and HSPC the major species were (NH4)2SO4 and NH4NO3 in PM10 and PM2.5. Interestingly, NH4NO3 was not estimated in HMNC under the condition of high relative humidity and mass concentration nss-SO42-. The ammonium ion (NH4+) reacted SO42 in PM2.5 of the most of haze cases affected the atmospheric

  3. Underwater videography and photography in Gulf of Kachchh. Sponsored by Gujarat Ecological Society, Vadodara, Gujarat

    Digital Repository Service at National Institute of Oceanography (India)

    Marine Archaeology Centre (MAC) has been carrying out underwater explorations and excavations of ancient ports and sunken shipwrecks to preserve underwater cultural heritage. MAC has the infrastructure facility to carry out underwater investigations...

  4. Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

    Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.

  5. A widely applicable method to fabricate underwater superoleophobic surfaces with low oil-adhesion on different metals by a femtosecond laser

    Science.gov (United States)

    Zhang, Jingzhou; Chen, Feng; Yang, Qing; Yong, Jiale; Huo, Jinglan; Fang, Yao; Hou, Xun

    2017-09-01

    In this paper, a one-step way to realize underwater superoleophobicity and low oil-adhesion on various metals by femtosecond laser ablation was proposed. The laser ablated aluminum surface showed hierarchical rough microstructure composed of abundant micro-holes and nano-particles. The oil contact angle on the as-prepared Al surface reached up to 157° and the oil sliding angle was just 7° to a 1,2-dichloroethane droplet in water. In addition, various oils including chloroform, hexadecane, n-dodecane, decane, liquid paraffin, and petroleum ether also showed underwater superoleophobicity on the structured aluminum surface. What's more, other metals such as iron, copper, molybdenum, and stainless steel were ablated, respectively, through the same method. Due to the formation of rough microstructures and their intrinsic high surface energy, they all exhibited remarkable underwater ultralow oil-adhesive superoleophobicity. Such one-fit-all method with anti-oil-pollution can be a suit for an ocean of metals, which undoubtedly will be used in underwater precise instruments, such as vessels, underwater detectors, and oil-water separation device.

  6. Small Vessel Security Strategy

    National Research Council Canada - National Science Library

    2008-01-01

    ...), narcotics, aliens, and other contraband, and other criminals. Small vessels have also been successfully employed overseas by terrorists to deliver Waterborne Improvised Explosive Devices (WBIEDs...

  7. Maury Journals - German Vessels

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — German vessels observations, after the 1853 Brussels Conference that set International Maritime Standards, modeled after Maury Marine Standard Observations.

  8. Nuclear reactor pressure vessel

    International Nuclear Information System (INIS)

    McDonald, B.N.

    1976-01-01

    In nuclear power reactor systems which have a reactor core inside a pressure vessel, the feedwater inlet pipe and steam discharge nozzle usually require separate pressure vessel penetrations. This requirement involves a great deal of expensive high quality special machining, welding and weld joint testing. The invention overcomes most of these problems by nestling the feedwater inlet pipe inside the steam discharge nozzle. At the same time the individual heat exchanger modules are supported from the pressure vessel at the same location as the nested feedwater inlet pipe and steam discharge nozzle combination, thus eliminating the need to accomodate troublesome differential thermal expansion problems through special structures within the pressure vessel

  9. Natural and bio-inspired underwater adhesives: Current progress and new perspectives

    Science.gov (United States)

    Cui, Mengkui; Ren, Susu; Wei, Shicao; Sun, Chengjun; Zhong, Chao

    2017-11-01

    Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

  10. A novel method to optimize the wavelength for underwater free-space optical communications

    Science.gov (United States)

    Neuner, Burton; Pascoguin, B. Melvin

    2014-10-01

    Wirelessly transmitting large volumes of information at high data rates underwater is becoming increasingly important for such applications as environmental monitoring and petroleum exploration and maintenance. Underwater free-space optical (FSO) communication addresses the aforementioned need by providing wireless high-data-rate links. Visible light transmission through seawater typically peaks in the blue-green spectrum (475 nm-575 nm), but local clarity conditions, which are dynamic, strongly influence the actual maximum. We describe the development of a new laser-wavelength auto-selection algorithm and system for optimized underwater FSO communication. This system has the potential to improve underwater optical link reliability for high-data-rate communications. First, we describe the laser system and water tube setup for performing optical experiments. Next, we present research on recreating various seawater types (from clear to turbid) in the laboratory using particle suspensions and dye, which will enable wavelength-dependent transmission tests. Finally, we show experimental results from optical water tube tests, and describe the development of the autoselection algorithm.

  11. An acoustically controlled tetherless underwater vehicle for installation and maintenance of neutrino detectors in the deep ocean

    CERN Document Server

    Ballou, P J

    1997-01-01

    The task of installing and servicing high energy neutrino detectors in the deep ocean from a surface support vessel is problematic using conventional tethered systems. An array of multiple detector strings rising 500 m from the ocean floor, and forming a grid with 50 m spacing between the strings, presents a substantial entanglement hazard for equipment cables deployed from the surface. Such tasks may be accomplished with fewer risks using a tetherless underwater remotely operated vehicle that has a local acoustic telemetry link to send control commands and sensor data between the vehicle and a stationary hydrophone suspended above or just outside the perimeter of the work site. The Phase I effort involves the development of an underwater acoustic telemetry link for vehicle control and sensor feedback, the evaluation of video compression methods for real-time acoustic transmission of video through the water, and the defining of local control routines on board the vehicle to allow it to perform certain basic m...

  12. An Evaluation of Potential Operating Systems for Autonomous Underwater Vehicles

    Science.gov (United States)

    2013-02-01

    remote control of such vehicles requires the use of a tether , limiting the vehicle’s range; however operating underwater vehicles autonomously requires...URBI Universal Robot Body Interface UUV Unmanned Underwater Vehicle UNCLASSIFIED xi DSTO–TN–1194 UNCLASSIFIED THIS PAGE IS INTENTIONALLY BLANK xii... underwater environment, where many platforms are still reliant upon an umbilical tether for power and high bandwidth communications. This tether

  13. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

    waves for Underwater Wireless Communication (UWC); radio waves, optical waves, and acoustic waves are few to name. Radio waves are good for extra low...2211 underwater communication , wireless sensors, mutual information REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Cotae, “On the Performance of the Underwater Wireless Communication Sensor Networks: Work in Progress” ASEE Mid-Atlantic Fall 2014 Conference

  14. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki

    2009-01-01

    Stress Corrosion Clacking (SCC) has been reported at Alloy 600 welds between nozzles and safe-end in Pressurized Water Reactor (PWR) plant. Alloy 690, which has higher chromium content than Alloy 600, has been applied for cladding on Alloy 600 welds for repairing damaged SCC area. Toshiba has developed Underwater Laser Beam Welding technique. This method can be conducted without draining, so that the repairing period and the radiation exposure during the repair can be dramatically decreased. In some old PWRs, high-sulfur stainless steel is used as the materials for this section. It has a high susceptibility of weld cracks. Therefore, the optimum welding condition of Alloy 690 on the high-sulfur stainless steel was investigated with our Underwater Laser Beam Welding unit. Good cladding layer, without any crack, porosity or lack of fusion, could be obtained. (author)

  15. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

    Newnham, R.E.; Zhang, J.; Alkoy, S.; Meyer, R.; Hughes, W.J.; Hladky-Hennion, A.C.; Cochran, J.; Markley, D. [Materials Research Laboratory, Penn State University, University Park, PA 16802 (United States)

    2002-09-01

    The cymbal is a miniaturized class V flextensional transducer that was developed for use as a shallow water sound projector and receiver. Single elements are characterized by high Q, low efficiency, and medium power output capability. Its low cost and thin profile allow the transducer to be assembled into large flexible arrays. Efforts were made to model both single elements and arrays using the ATILA code and the integral equation formulation (EQI).Millimeter size microprobe hydrophones (BBs) have been designed and fabricated from miniature piezoelectric hollow ceramic spheres for underwater applications such as mapping acoustic fields of projectors, and flow noise sensors for complex underwater structures. Green spheres are prepared from soft lead zirconate titanate powders using a coaxial nozzle slurry process. A compact hydrophone with a radially-poled sphere is investigated using inside and outside electrodes. Characterization of these hydrophones is done through measurement of hydrostatic piezoelectric charge coefficients, free field voltage sensitivities and directivity beam patterns. (orig.)

  16. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    Science.gov (United States)

    2016-09-20

    irreversible Joule heat) by an electric light bulb . The reciprocal (or reverse) of this process by supplying heat and shining light to the same electric bulb ...limit the invention to the precise form disclosed; and obviously many modifications and variations are possible in light of the above teaching...300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST [0001] The invention described

  17. Underwater suction device for irradiated materials

    International Nuclear Information System (INIS)

    Qurnell, F.D.; Peloquin, A.V.

    1982-01-01

    An underwater suction device for collecting irradiated materials in a pool of water includes injection and suction tubes and a removable, disposable filter for capturing irradiated materials. Pressurized water is injected into the suction tube through a jet pump nozzle to establish a suction flow through the tube. The suction device is manoeuverable by a pole, which is pivotally connected to the suction device by a latching mechanism. (author)

  18. Tethered Antennas for Unmanned Underwater Vehicles

    Science.gov (United States)

    2009-04-27

    Concepts The first design (Figure 1) was based on the concept of an airfoil kite. The shape of the tow body was built around a NACA5515 hydrofoil to...Underwater Vehicles Brooke Ocean Technology (USA) Inc. 6 Figure 1: Hydrofoil Design The second design was based on that of a boat hull...communications. A sharp bow was utilized to cut through the water to reduce drag when on the surface. Like the hydrofoil design the top profile was

  19. MEDITERRANEAN: Underwater neutrinos get off the ground

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Now funded is the initial stage of NESTOR, an imaginative new programme for a dedicated underwater neutrino astroparticle physics laboratory. Located in the international waters off the southernmost corner of continental Europe near the town of Pylos in S.W. Greece, NESTOR (NEutrinos from Supernovae and TeV sources Ocean Range) recalls the wise king of Pylos who counselled the Greeks during the Trojan war, an excellent tradition for new scientific goals of detecting neutrinos

  20. Role of Confined Water in Underwater Adhesion

    Science.gov (United States)

    Dhinojwala, Ali

    Surface bound water is a strong deterrent for forming strong bonds between two surfaces underwater and expelling that bound water is important for strong adhesion. I will discuss examples of different strategies used by geckos, spiders, and mussels to handle this last layer of bound water. Recent results using infrared-visible sum frequency generation spectroscopy to probe the structure of this bound water will be discussed. National Science Foundation.

  1. Obstacle avoidance in underwater glider path planning

    OpenAIRE

    Isern González, Josep; Hernández Sosa, Daniel; Fernández Perdomo, Enrique; Cabrera Gámez, Jorge; Domínguez Brito, Antonio Carlos; Prieto Marañón, Víctor

    2012-01-01

    Underwater gliders have revealed as a valuable scientific platform, with a growing number of successful environmental sampling applications. They are specially suited for long range missions due to their unmatched autonomy level, although their low surge speed make them strongly affected by ocean currents. Path planning constitute a real concern for this type of vehicle, as it may reduce the time taken to reach a given waypoint or save power. In such a dynamic environment it is not easy to fi...

  2. A Recovery System for Unmanned Underwater Vehicles

    Science.gov (United States)

    2017-09-28

    300170 1 of 10 A RECOVERY SYSTEM FOR UNMANNED UNDERWATER VEHICLES STATEMENT OF GOVERNMENT INTEREST [0001] The invention described herein may...6 of 10 forces cannot be easily predicted and can be strong enough to require a significantly larger handling system and significantly more...the sea state, the ship handling system , the capture mechanism and the design of the capture mechanism 400. [0024] The water jets 100 will increase

  3. The Investigation on Strain Strengthening Induced Martensitic Phase Transformation of Austenitic Stainless Steel: A Fundamental Research for the Quality Evaluation of Strain Strengthened Pressure Vessel

    Science.gov (United States)

    Li, Bo; Cai Ren, Fa; Tang, Xiao Ying

    2018-03-01

    The manufacture of pressure vessels with austenitic stainless steel strain strengthening technology has become an important technical means for the light weight of cryogenic pressure vessels. In the process of increasing the strength of austenitic stainless steel, strain can induce the martensitic phase transformation in austenite phase. There is a quantitative relationship between the transformation quantity of martensitic phase and the basic mechanical properties. Then, the martensitic phase variables can be obtained by means of detection, and the mechanical properties and safety performance are evaluated and calculated. Based on this, the quantitative relationship between strain hardening and deformation induced martensite phase content is studied in this paper, and the mechanism of deformation induced martensitic transformation of austenitic stainless steel is detailed.

  4. Oceanographic and fisheries data collected from NOAA and academic research vessels, and commercial menhaden vessels in Gulf of Mexico from 1988-06-14 to 1991-06-22 (NCEI Accession 0156304)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Oceanographic and fisheries data were collected during 1988 through 1991 through a multiagency research project to develop a remote sensing system to provide near...

  5. Underwater hearing in the great cormorant (Phalacrocorax carbo sinensis)

    DEFF Research Database (Denmark)

    Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus

    2016-01-01

    The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...

  6. Calibration Techniques for Accurate Measurements by Underwater Camera Systems.

    Science.gov (United States)

    Shortis, Mark

    2015-12-07

    Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

  7. Calibration Techniques for Accurate Measurements by Underwater Camera Systems

    Directory of Open Access Journals (Sweden)

    Mark Shortis

    2015-12-01

    Full Text Available Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

  8. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  9. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  10. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

    .... Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process...

  11. Underwater Acoustic Target Tracking: A Review.

    Science.gov (United States)

    Luo, Junhai; Han, Ying; Fan, Liying

    2018-01-02

    Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper.

  12. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

    Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

    2017-09-01

    This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

  13. Underwater Noise Modelling of Wave Energy Devices

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2009-07-01

    Future large-scale implementation of wave energy converts (WECs) will introduce an anthropogenic activity in the ocean which may contribute to underwater noise. The Ocean houses several marine species with acoustic sensibility; consequently the potential impact of the underwater noise needs to be addressed. At present, there are no acoustic impact studies based on acquired data. The WEAM project (Wave Energy Acoustic Monitoring) aims at developing an underwater noise monitoring plan for WECs. The development of an acoustic monitoring plan must consider the sound propagation in the ocean, identify noise sources, understand the operational characteristics and select adequate instrumentation. Any monitoring strategy must involve in-situ measurements. However, the vast distances which sound travels within the ocean, can make in-situ measurements covering the entire area of interest, impracticable. This difficulty can be partially overcome through acoustic numerical modelling. This paper presents a synthetic study, on the application of acoustic forward modelling and the evaluation of the impact of noise produced by wave energy devices on marine mammals using criteria based on audiograms of dolphins, or other species. The idea is to illustrate the application of that methodology, and to show to what extent it allows for estimating distances of impacts due to acoustic noise.

  14. An Adaptive Approach for Precise Underwater Vehicle Control in Combined Robot-Diver Operations

    Science.gov (United States)

    2015-03-01

    2  Figure 2.  The SeaBotix vLBV300 ROV .........................................................................11  Figure 3.  SeaBotix vLBV300...Control MRAC Model Reference Adaptive Control NPS Naval Postgraduate School RDAS Robotic Diver’s Assistant System ROV Remotely Operated Vehicle...et al. [20] on an AC- ROV underwater vehicle. This research shows the L1AC to be a viable candidate for AUV control. C. RESEARCH OBJECTIVES AND SCOPE

  15. PRESSURE-RESISTANT VESSEL

    NARCIS (Netherlands)

    Beukers, A.; De Jong, T.

    1997-01-01

    Abstract of WO 9717570 (A1) The invention is directed to a wheel-shaped pressure-resistant vessel for gaseous, liquid or liquefied material having a substantially rigid shape, said vessel comprising a substantially continuous shell of a fiber-reinforced resin having a central opening, an inner

  16. Containment vessel drain system

    Energy Technology Data Exchange (ETDEWEB)

    Harris, Scott G.

    2018-01-30

    A system for draining a containment vessel may include a drain inlet located in a lower portion of the containment vessel. The containment vessel may be at least partially filled with a liquid, and the drain inlet may be located below a surface of the liquid. The system may further comprise an inlet located in an upper portion of the containment vessel. The inlet may be configured to insert pressurized gas into the containment vessel to form a pressurized region above the surface of the liquid, and the pressurized region may operate to apply a surface pressure that forces the liquid into the drain inlet. Additionally, a fluid separation device may be operatively connected to the drain inlet. The fluid separation device may be configured to separate the liquid from the pressurized gas that enters the drain inlet after the surface of the liquid falls below the drain inlet.

  17. Reactor vessel sealing plug

    International Nuclear Information System (INIS)

    Dooley, R.A.

    1986-01-01

    This invention relates to an apparatus and method for sealing the cold leg nozzles of a nuclear reactor pressure vessel from a remote location during maintenance and inspection of associated steam generators and pumps while the pressure vessel and refueling canal are filled with water. The apparatus includes a sealing plug for mechanically sealing the cold leg nozzle from the inside of a reactor pressure vessel. The sealing plugs include a primary and a secondary O-ring. An installation tool is suspended within the reactor vessel and carries the sealing plug. The tool telescopes to insert the sealing plug within the cold leg nozzle, and to subsequently remove the plug. Hydraulic means are used to activate the sealing plug, and support means serve to suspend the installation tool within the reactor vessel during installation and removal of the sealing plug

  18. Imagery-derived modulation transfer function and its applications for underwater imaging

    Science.gov (United States)

    Hou, Weilin; Weidemann, Alan D.; Gray, Deric J.; Fournier, Georges R.

    2007-09-01

    The main challenge working with underwater imagery results from both rapid decay of signals due to absorption, which leads to poor signal to noise returns, and the blurring caused by strong scattering by the water itself and constituents within, especially particulates. The modulation transfer function (MTF) of an optical system gives the detailed and precise information regarding the system behavior. Underwater imageries can be better restored with the knowledge of the system MTF or the point spread function (PSF), the Fourier transformed equivalent, extending the performance range as well as the information retrieval from underwater electro-optical system. This is critical in many civilian and military applications, including target and especially mine detection, search and rescue, and diver visibility. This effort utilizes test imageries obtained by the Laser Underwater Camera Imaging Enhancer (LUCIE) from Defense Research and Development Canada (DRDC), during an April-May 2006 trial experiment in Panama City, Florida. Imaging of a standard resolution chart with various spatial frequencies were taken underwater in a controlled optical environment, at varying distances. In-water optical properties during the experiment were measured, which included the absorption and attenuation coefficients, particle size distribution, and volume scattering function. Resulting images were preprocessed to enhance signal to noise ratio by averaging multiple frames, and to remove uneven illumination at target plane. The MTF of the medium was then derived from measurement of above imageries, subtracting the effect of the camera system. PSFs converted from the measured MTF were then used to restore the blurred imageries by different deconvolution methods. The effects of polarization from source to receiver on resulting MTFs were examined and we demonstrate that matching polarizations do enhance system transfer functions. This approach also shows promise in deriving medium optical

  19. A Novel Fractional Fourier Transform-Based ASK-OFDM System for Underwater Acoustic Communications

    Directory of Open Access Journals (Sweden)

    Rami Ashri

    2017-12-01

    Full Text Available A key research area in wireless transmission is underwater communications. It has a vital role in applications such as underwater sensor networks (UWSNs and disaster detection. The underwater channel is very unique as compared to other alternatives of transmission channels. It is characterized by path loss, multipath fading, Doppler spread and ambient noise. Thus, the bit error rate (BER is increased to a large extent when compared to its counterpart of cellular communications. Acoustic signals are the current best solution for underwater communications. The use of electromagnetic or optical waves obviously entails a much higher data rate. However, they suffer from high attenuation, absorption or scattering. This paper proposes a novel fractional fast Fourier transform (FrFT—orthogonal frequency division multiplexing (FrFT-OFDM system for underwater acoustic (UWA communication—which employs the amplitude shift keying (ASK modulation technique (FrFT-ASK-OFDM. Specifically, ASK achieves a better bandwidth efficiency as compared to other commonly used modulation techniques, such as quadrature amplitude modulation (QAM and phase shift keying (PSK. In particular, the system proposed in this article can achieve a very promising BER performance, and can reach higher data rates when compared to other systems proposed in the literature. The BER performance of the proposed system is evaluated numerically, and is compared to the corresponding M-ary QAM system in the UWA channel for the same channel conditions. Moreover, the performance of the proposed system is compared to the conventional fast Fourier transform (FFT-OFDM (FFT-OFDM system in the absence and presence of the effect of carrier frequency offset (CFO. Numerical results show that the proposed system outperforms the conventional FFT-based systems for UWA channels, even in channels dominated by CFO. Moreover, the spectral efficiency and data rate of the proposed system are approximately double

  20. High-performance thermal cutting techniques for underwater use

    International Nuclear Information System (INIS)

    Bach, F.W.

    2002-01-01

    Over the past few years, the Institute for Materials Research of the University of Hanover developed a new product family (Contact-Arc-Metal-X) of electrothermal techniques for underwater cutting of metal structures. This CAMX technology comprises contact arc metal cutting by means of a sword-shaped electrode, contact arc metal grinding with a rotating electrode, and contact arc metal drilling with an integrated interlocking mechanism. CAMC is characterized by its capability to cut components with complex structures. Undercuts and cavities constitute no obstacles in the process. CAMG is a technique for straight cutting characterized by its high cutting speeds. CAMD is able to produce countersunk boreholes and holes of any geometry. The integrated tensioning mechanism allows parts to be gripped and transported which could not be handled by conventional gripper systems. (orig.) [de

  1. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    We have developed underwater cutting technique for 4.2 mm thick zircaloy pressure tubes and up to 6 mm thick steel using fibre-coupled 250 W average power pulsed Nd:YAG laser. This underwater cutting technique will be highly useful in various nuclear applications as well as in dismantling/repair of ship and pipe lines ...

  2. Self-localization for underwater inspection robot in reactor systems

    International Nuclear Information System (INIS)

    Kobayashi, Futoshi; Kojima, Fumio

    2007-01-01

    An underwater inspection robot has been needed for preventive maintenance in a nuclear power plant. This paper deals with a self-localization method for the underwater inspection robot. In this method, the position and the orientation of the robot are estimated by using the particle filter. For showing the effectiveness of the proposed method, an experiment with real robot is demonstrated. (author)

  3. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic

  4. Characterization of ships as sources of underwater noise

    NARCIS (Netherlands)

    Jong, C.A.F. de

    2009-01-01

    There is a growing interest in the possible impact of anthropogenic underwater noise on marine life [1]. One of the concerns is the increasing contribution of shipping noise, with the growing number and size of commercial ships. Traditionally, underwater radiated noise control was only of interest

  5. The WODA guidance paper on underwater sound from dredging (abstract)

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.

    2013-01-01

    The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on

  6. Development of underwater laser cutting technique for steel and ...

    Indian Academy of Sciences (India)

    Laser cutting; underwater laser cutting; fibre optic beam delivery; Nd:YAG laser; material processing; heat affected zone; microstructure. PACS Nos 42.62.Cf; 42.62.-b; 42.55.Rz; 42.81.Ai; 42.81.-i. 1. Introduction. Underwater laser cutting and welding has many applications in nuclear facilities and shiping industry and is a ...

  7. ABS-FishCount: An Agent-Based Simulator of Underwater Sensors for Measuring the Amount of Fish.

    Science.gov (United States)

    García-Magariño, Iván; Lacuesta, Raquel; Lloret, Jaime

    2017-11-13

    Underwater sensors provide one of the possibilities to explore oceans, seas, rivers, fish farms and dams, which all together cover most of our planet's area. Simulators can be helpful to test and discover some possible strategies before implementing these in real underwater sensors. This speeds up the development of research theories so that these can be implemented later. In this context, the current work presents an agent-based simulator for defining and testing strategies for measuring the amount of fish by means of underwater sensors. The current approach is illustrated with the definition and assessment of two strategies for measuring fish. One of these two corresponds to a simple control mechanism, while the other is an experimental strategy and includes an implicit coordination mechanism. The experimental strategy showed a statistically significant improvement over the control one in the reduction of errors with a large Cohen's d effect size of 2.55.

  8. Capacitive Micromachined Ultrasonic Transducers (CMUTs for Underwater Imaging Applications

    Directory of Open Access Journals (Sweden)

    Jinlong Song

    2015-09-01

    Full Text Available A capacitive micromachined ultrasonic transducer structure for use in underwater imaging is designed, fabricated and tested in this paper. In this structure, a silicon dioxide insulation layer is inserted between the top electrodes and the vibration membrane to prevent ohmic contact. The capacitance-voltage (C-V characteristic curve shows that the transducer offers suitable levels of hysteresis and repeatability performance. The −6 dB center frequency is 540 kHz and the transducer has a bandwidth of 840 kHz for a relative bandwidth of 155%. Underwater pressure of 143.43 Pa is achieved 1 m away from the capacitive micromachined ultrasonic transducer under 20  excitation. Two-dimensional underwater ultrasonic imaging, which is able to prove that a rectangular object is present underwater, is achieved. The results presented here indicate that our work will be highly beneficial for the establishment of an underwater ultrasonic imaging system.

  9. Underwater Sensor Network Redeployment Algorithm Based on Wolf Search.

    Science.gov (United States)

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-10-21

    This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance.

  10. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

    It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

  11. Modified industrial robot starts underwater operation. Modifizierter Industrieroboter geht in die Unterwasser-Erprobung

    Energy Technology Data Exchange (ETDEWEB)

    Gustmann, M.; Niemann, H.R.; Aust, E.; Schultheiss, G.F.

    1991-01-01

    This paper describes research activities with an industrial robot, which was modified for the special application in seawater down to 1100 m water depth. The essential modifications are outlined, which have allowed the operation of this commercial available, free programmable handling system in wet environment. In addition, results of operation tests and of experiments in shallow water are presented, which gave important insights into the kinematic behaviour, the efficiency and the safe function of this world wide first underwater robot. (orig.).

  12. Surveying the Underwater Arcaheological Site of Cape Glaros at Pagasetikos Gulf

    Science.gov (United States)

    Diamanti, E.; Spondylis, E.; Vlachaki, F.; Kolyva, E.

    2017-02-01

    The Hellenic Institute of Marine Archaeology (H.I.M.A.)1 has been conducting an underwater archaeological research in the west coast of southern Pagasetikos Gulf, since 2000. Every year the underwater research focuses on specific archaeological targets that have been recovered during previous field campaigns. The current publication elaborates on the comprehensive documentation of the underwater archaeological site at Cape Glaros, during the 2015 field season, under the direction of the archaeologist Elias Spondylis. The 2015 research campaign was conducted within the framework of the ITACA- Innovation Technologies and Applications for Coastal Archaeological sites European Project (FP7/2007-2013, GA No 606805), at two archaeological sites, namely the Cape Glaros and Metohi. It was among the most important challenges of the project to successfully produce the detailed and accurate 3D mapping of the Cape Glaros site that covers an extended area. Four large concentrations of pottery finds and numerous anchors of different typology have been recorded, that can be dated from the late Hellenistic to the Byzantine periods. This challenge was tackled through the simultaneous implementation of three recording methods; photogrammetry, geodesy and conventional architectural mapping. The workflow of the documentation process, including data acquisition, processing and graphic visualization, along with the derived results are presented below. 1The Hellenic Institute of Marine Archaeology (H.I.M.A.) is a private, non-profit organization, founded in 1973, which undertakes maritime archaeological research under the supervision or in collaboration with the Greek Ministry of Culture. It has over 100 members, with diverse academic credentials, all of whom work, mainly, on a voluntary basis. 3D recording of underwater archaeological sites has been applied to numerous projects that have been carried out by the multidisciplinary team of H.I.M.A. in locations of utmost archaeological

  13. Modelling techniques for underwater noise generated by tidal turbines in shallow water

    OpenAIRE

    Lloyd, Thomas P.; Turnock, Stephen R.; Humphrey, Victor F.

    2011-01-01

    The modelling of underwater noise sources and their potential impact on the marine environment is considered, focusing on tidal turbines in shallow water. The requirement for device noise prediction as part of environmental impact assessment is outlined and the limited amount of measurement data and modelling research identified. Following the identification of potential noise sources, the dominant flowgenerated sources are modelled using empirical techniques. The predicted sound pressure lev...

  14. Visual examination program of the TRIGA Mark II reactor Vienna with the nuclear underwater telescope

    International Nuclear Information System (INIS)

    Boeck, H.; Hammer, J.; Varga, K.

    1985-12-01

    The visual inspection programm carried out during a three month shut-period at the TRIGA Mark II reactor Vienna is described. Optical inspection of all welds inside the reactor tank was carried out with an underwater telescope developed by the Central Research Institute of Physics, Budapest, Hungary. It is shown that even after 23 years of reactor operation all tank internals were found to be in good condition and minor defects can be easily repaired by remote handling tools. (Author)

  15. Cheboygan Vessel Base

    Data.gov (United States)

    Federal Laboratory Consortium — Cheboygan Vessel Base (CVB), located in Cheboygan, Michigan, is a field station of the USGS Great Lakes Science Center (GLSC). CVB was established by congressional...

  16. Coastal Logbook Survey (Vessels)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This data set contains catch (landed catch) and effort for fishing trips made by vessels that have been issued a Federal permit for the Gulf of Mexico reef fish,...

  17. Vessel Sewage Discharges

    Science.gov (United States)

    Vessel sewage discharges are regulated under Section 312 of the Clean Water Act, which is jointly implemented by the EPA and Coast Guard. This homepage links to information on marine sanitation devices and no discharge zones.

  18. High Performance Marine Vessels

    CERN Document Server

    Yun, Liang

    2012-01-01

    High Performance Marine Vessels (HPMVs) range from the Fast Ferries to the latest high speed Navy Craft, including competition power boats and hydroplanes, hydrofoils, hovercraft, catamarans and other multi-hull craft. High Performance Marine Vessels covers the main concepts of HPMVs and discusses historical background, design features, services that have been successful and not so successful, and some sample data of the range of HPMVs to date. Included is a comparison of all HPMVs craft and the differences between them and descriptions of performance (hydrodynamics and aerodynamics). Readers will find a comprehensive overview of the design, development and building of HPMVs. In summary, this book: Focuses on technology at the aero-marine interface Covers the full range of high performance marine vessel concepts Explains the historical development of various HPMVs Discusses ferries, racing and pleasure craft, as well as utility and military missions High Performance Marine Vessels is an ideal book for student...

  19. 2013 Fishing Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  20. Reactor pressure vessel support

    International Nuclear Information System (INIS)

    Butti, J.P.

    1978-01-01

    A link and pin support system provides the primary vertical and lateral support for a nuclear reactor pressure vessel without restricting thermally induced radial and vertical expansion and contraction

  1. 2013 Cargo Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  2. Maury Journals - US Vessels

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — U.S. vessels observations, after the 1853 Brussels Conference that set International Maritime Standards, modeled after Maury Marine Standard Observations.

  3. 2013 Tanker Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  4. 2013 Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  5. Ocean Station Vessel

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Ocean Station Vessels (OSV) or Weather Ships captured atmospheric conditions while being stationed continuously in a single location. While While most of the...

  6. 2011 Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  7. 2011 Fishing Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  8. 2011 Cargo Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  9. Pressurized Vessel Slurry Pumping

    International Nuclear Information System (INIS)

    Pound, C.R.

    2001-01-01

    This report summarizes testing of an alternate ''pressurized vessel slurry pumping'' apparatus. The principle is similar to rural domestic water systems and ''acid eggs'' used in chemical laboratories in that material is extruded by displacement with compressed air

  10. 2013 Passenger Vessel Density

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Automatic Identification Systems (AIS) are a navigation safety device that transmits and monitors the location and characteristics of many vessels in U.S. and...

  11. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  12. Water waves generated by underwater explosion

    CERN Document Server

    Mehaute, Bernard Le

    1996-01-01

    This is the first book on explosion-generated water waves. It presents the theoretical foundations and experimental results of the generation and propagation of impulsively generated waves resulting from underwater explosions. Many of the theories and concepts presented herein are applicable to other types of water waves, in particular, tsunamis and waves generated by the fall of a meteorite. Linear and nonlinear theories, as well as experimental calibrations, are presented for cases of deep and shallow water explosions. Propagation of transient waves on dissipative, nonuniform bathymetries to

  13. Hemispherical optical dome for underwater communication

    Science.gov (United States)

    Shiri, Ron S.; Lunde, Emily L.; Coronado, Patrick L.; Quijada, Manuel A.

    2017-08-01

    For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with this approach is that there is generally a large loss of the light signal due to scattering and absorption in water, even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple communication system, consisting only of a highly directional source/transmitter and small optical detector/receiver, has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter. Two versions of the optical dome (with 6" and 8" diameters) were designed using PTC's Creo CAD software and modeled using Synopsys' CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows that the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with

  14. Underwater Sound Propagation from Marine Pile Driving.

    Science.gov (United States)

    Reyff, James A

    2016-01-01

    Pile driving occurs in a variety of nearshore environments that typically have very shallow-water depths. The propagation of pile-driving sound in water is complex, where sound is directly radiated from the pile as well as through the ground substrate. Piles driven in the ground near water bodies can produce considerable underwater sound energy. This paper presents examples of sound propagation through shallow-water environments. Some of these examples illustrate the substantial variation in sound amplitude over time that can be critical to understand when computing an acoustic-based safety zone for aquatic species.

  15. Radon dynamics in underwater thermal radon therapy

    International Nuclear Information System (INIS)

    Lettner, H.; Hofmann, W.; Winkler, R.; Rolle, R.; Foisner, W.

    1998-01-01

    At a facility for underwater thermal radon therapy in Bad Hofgastein, experiments were carried out with the aim of establishing radon in the air exhaled by the treated patients and of radon decay products on the skin of the patients. The time course of radon concentration in the exhaled air shows a maximum a few minutes after entering the bath, then the Rn concentration remains constant over the remaining time spent in the bath. Taking into account several simplifying assumptions, the average dose to the epidermis from radon daughters is about 50 μGy. (A.K.)

  16. Navigation System Fault Diagnosis for Underwater Vehicle

    DEFF Research Database (Denmark)

    Falkenberg, Thomas; Gregersen, Rene Tavs; Blanke, Mogens

    2014-01-01

    This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using dierent approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal...... based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude...

  17. Adaptive Target Tracking for Underwater Maneuvering Targets.

    Science.gov (United States)

    1979-12-01

    concenetrate on the bearings-only approach. In this method the Observer monitors his bearing to the Source, over a period of time. Usually the Observer must...developed in [ 5] was earlier applied with much success to tracking maneuvering air targets. This approach will now be applied in the underwater environment...April 1977. [11] A. H. Jazwinski, Stochastic Processes and Filtering Theory, Academic Press, New York, 1970. [12] D. H. Halliday, and R. Resnick, Physics, John Wiley & Sons, Inc., New York, 1966. hI

  18. LANL Robotic Vessel Scanning

    Energy Technology Data Exchange (ETDEWEB)

    Webber, Nels W. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2015-11-25

    Los Alamos National Laboratory in J-1 DARHT Operations Group uses 6ft spherical vessels to contain hazardous materials produced in a hydrodynamic experiment. These contaminated vessels must be analyzed by means of a worker entering the vessel to locate, measure, and document every penetration mark on the vessel. If the worker can be replaced by a highly automated robotic system with a high precision scanner, it will eliminate the risks to the worker and provide management with an accurate 3D model of the vessel presenting the existing damage with the flexibility to manipulate the model for better and more in-depth assessment.The project was successful in meeting the primary goal of installing an automated system which scanned a 6ft vessel with an elapsed time of 45 minutes. This robotic system reduces the total time for the original scope of work by 75 minutes and results in excellent data accumulation and transmission to the 3D model imaging program.

  19. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ...: Divers or underwater ROV. 115.650 Section 115.650 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY... Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater survey, you may use divers or an underwater remotely operated vehicle (ROV). (a) If you use divers to...

  20. FFTF and CRBRP reactor vessels

    International Nuclear Information System (INIS)

    Morgan, R.E.

    1977-01-01

    The Fast Flux Test Facility (FFTF) reactor vessel and the Clinch River Breeder Reactor Plant (CRBRP) reactor vessel each serve to enclose a fast spectrum reactor core, contain the sodium coolant, and provide support and positioning for the closure head and internal structure. Each vessel is located in its reactor cavity and is protected by a guard vessel which would ensure continued decay heat removal capability should a major system leak develop. Although the two plants have significantly different thermal power ratings, 400 megawatts for FFTF and 975 megawatts for CRBRP, the two reactor vessels are comparable in size, the CRBRP vessel being approximately 28% longer than the FFTF vessel. The FFTF vessel diameter was controlled by the space required for the three individual In-Vessel Handling Machines and Instrument Trees. Utilization of the triple rotating plug scheme for CRBRP refueling enables packaging of the larger CRBRP core in a vessel the same diameter as the FFTF vessel

  1. Recent Advancements in Retinal Vessel Segmentation.

    Science.gov (United States)

    L Srinidhi, Chetan; Aparna, P; Rajan, Jeny

    2017-04-01

    Retinal vessel segmentation is a key step towards the accurate visualization, diagnosis, early treatment and surgery planning of ocular diseases. For the last two decades, a tremendous amount of research has been dedicated in developing automated methods for segmentation of blood vessels from retinal fundus images. Despite the fact, segmentation of retinal vessels still remains a challenging task due to the presence of abnormalities, varying size and shape of the vessels, non-uniform illumination and anatomical variability between subjects. In this paper, we carry out a systematic review of the most recent advancements in retinal vessel segmentation methods published in last five years. The objectives of this study are as follows: first, we discuss the most crucial preprocessing steps that are involved in accurate segmentation of vessels. Second, we review most recent state-of-the-art retinal vessel segmentation techniques which are classified into different categories based on their main principle. Third, we quantitatively analyse these methods in terms of its sensitivity, specificity, accuracy, area under the curve and discuss newly introduced performance metrics in current literature. Fourth, we discuss the advantages and limitations of the existing segmentation techniques. Finally, we provide an insight into active problems and possible future directions towards building successful computer-aided diagnostic system.

  2. Twenty-fifth water reactor safety information meeting: Proceedings. Volume 1: Plenary sessions; Pressure vessel research; BWR strainer blockage and other generic safety issues; Environmentally assisted degradation of LWR components; Update on severe accident code improvements and applications

    International Nuclear Information System (INIS)

    Monteleone, S.

    1998-03-01

    This three-volume report contains papers presented at the conference. The papers are printed in the order of their presentation in each session and describe progress and results of programs in nuclear safety research conducted in this country and abroad. Foreign participation in the meeting included papers presented by researchers from France, Japan, Norway, and Russia. The titles of the papers and the names of the authors have been updated and may differ from those that appeared in the final program of the meeting. This volume contains the following information: (1) plenary sessions; (2) pressure vessel research; (3) BWR strainer blockage and other generic safety issues; (4) environmentally assisted degradation of LWR components; and (5) update on severe accident code improvements and applications. Selected papers have been indexed separately for inclusion in the Energy Science and Technology Database

  3. Sustainable Oceanographic Vessels - Setting an Example

    Science.gov (United States)

    van Leer, J. C.

    2009-12-01

    In response to climate change, global warming and post “peak oil” fuel scarcity, the oceanographic community should consider reducing its carbon foot print. Why should scientists operate inefficient vessels while lecturing the general public on the need to reduce CO2 emissions? We have already seen curtailment of ship schedules and ship lay-ups, due in part to rising fuel costs, following $140/barrel crude oil. When the global recession ends, upward pressure on oil prices will again commence. Who can forecast how high fuel prices may ultimately rise during the typical 25-30 year lifetime of a research vessel? Are we to curtail future work at sea when oceanic climate research is becoming ever more important? A catamaran research vessel has been designed which can be electrically propelled from by a combination of high efficiency generators, photovoltaic panels and/or sails. Sail produced power is transformed with propellers and motor/generators into electric power which is stored in battery banks. This vessel could operate as the first true hybrid oceanographic research vessel. It could even continue operations without fuel in cases of a severe fuel shortage or fueling denial. Since the power produced by any water turbine increases with the cube of the velocity flowing over its propeller, the low fluid friction and high stability of a catamaran, with reasonably slender hulls, provide an important boost to efficient hybrid operation. The author has chartered a 42’ hybrid catamaran sailboat and found it efficient and extremely easy to operate and control. A 79’ motor sailing catamaran research vessel by Lock Crowther Designs will be presented as one example of a sustainable research vessel with excellent speed and sea-keeping. A center well makes operation as a small drilling/coring ship for coastal climate investigation possible. The center well also supports a host of remote sensing and robotic gear handling capabilities.

  4. Pressure vessel, in particular reactor pressure vessel

    International Nuclear Information System (INIS)

    1976-01-01

    The task to design the pre-stressing facility for a pressure vessel, especially for nuclear reactors, wiht pre-stressed jacket and pre-stressing facility, the latter one showing circumferential steel tendons supported polygonally on the outer side of the jacket by means of supporting shoes, in such a way that simply defined tensions can be generated and re-tensioning of the tendons can be carried out easily is solved according to the invention by keeping the circumference of the steel tendons fixed and by designing the supporting shoes as stressing shoes. The defined tensions are applied through the stressing shoes. (ORU) [de

  5. Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Luis Govinda García-Valdovinos

    2014-01-01

    Full Text Available Underwater remotely operated vehicles (ROVs play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading, among others. In this paper, the modelling, design and control of the Kaxan ROV is presented: i The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii the Kaxan hardware/software architecture, iii numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbances and thruster dynamics, iv a virtual environment to visualize the motion of the Kaxan ROV and v experimental results of a one degree of freedom underwater system.

  6. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  7. Underwater pipeline impact localization using piezoceramic transducers

    Science.gov (United States)

    Zhu, Junxiao; Ho, Siu Chun Michael; Patil, Devendra; Wang, Ning; Hirsch, Rachel; Song, Gangbing

    2017-10-01

    Reports indicated that impact events accounted for 47% of offshore pipeline failures, which calls for impact detection and localization for subsea pipelines. In this paper, an innovative method for rapid localization of impacts on underwater pipelines utilizing a novel determination technique for both arrival-time and group velocity (ATGV) of ultrasonic guided waves with lead zirconate titanate (PZT) transducers is described. PZT transducers mounted on the outer surface of a model pipeline were utilized to measure ultrasonic guided waves generated by impact events. Based on the signals from PZT sensors, the ATGV technique integrates wavelet decomposition, Hilbert transform and statistical analysis to pinpoint the arrival-time of the designated ultrasonic guided waves with a specific group velocity. Experimental results have verified the effectiveness and the localization accuracy for eight impact points along a model underwater pipeline. All estimations errors were small and were comparable with the wavelength of the designated ultrasonic guided waves. Furthermore, the method is robust against the low frequency structural vibration introduced by other external forces.

  8. GAS FLOW IN UNDERWATER BREATHING INSTALLATIONS

    Directory of Open Access Journals (Sweden)

    Anca CONSTANTIN

    2017-11-01

    Full Text Available The open circuit underwater breathing apparatus can be a one or two-stage regulator used in scuba diving or a two-stage regulator used in surface supplied installations. These installations are proper in underwater sites at small depth. The pneumatic circuit of a two-stage regulator is composed mainly of a first stage regulator mounted on the air cylinders and a second stage carried by the diver in his mouth. The two regulators are linked together by a medium pressure hose. The circuit opens when the depression created by the diver’s inhalation, in the second stage body, reaches a certain value. The second stage opening causes a transient movement, namely an expansion wave that propagates through the medium pressure hose to the first stage regulator. The first stage regulator opens and the air in the cylinders is allowed to flow to the diver. The longer the hose, the greater the duration of the expansion wave propagation. Investigations on the wave propagation offer data on the inspiration unsteady motion duration which influences the respiratory effort of the diver.

  9. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

    Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.

  10. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

    Full Text Available The diffuse interface model of Saurel et al. (2008 is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009 is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile. Performance data are then computed showing method ability to predict forces acting on the system.

  11. Hydrogel microphones for stealthy underwater listening

    Science.gov (United States)

    Gao, Yang; Song, Jingfeng; Li, Shumin; Elowsky, Christian; Zhou, You; Ducharme, Stephen; Chen, Yong Mei; Zhou, Qin; Tan, Li

    2016-08-01

    Exploring the abundant resources in the ocean requires underwater acoustic detectors with a high-sensitivity reception of low-frequency sound from greater distances and zero reflections. Here we address both challenges by integrating an easily deformable network of metal nanoparticles in a hydrogel matrix for use as a cavity-free microphone. Since metal nanoparticles can be densely implanted as inclusions, and can even be arranged in coherent arrays, this microphone can detect static loads and air breezes from different angles, as well as underwater acoustic signals from 20 Hz to 3 kHz at amplitudes as low as 4 Pa. Unlike dielectric capacitors or cavity-based microphones that respond to stimuli by deforming the device in thickness directions, this hydrogel device responds with a transient modulation of electric double layers, resulting in an extraordinary sensitivity (217 nF kPa-1 or 24 μC N-1 at a bias of 1.0 V) without using any signal amplification tools.

  12. Hybrid Underwater Vehicle: ARV Design and Development

    Directory of Open Access Journals (Sweden)

    Zhigang DENG

    2014-02-01

    Full Text Available The development of SMU-I, a new autonomous & remotely-operated vehicle (ARV is described. Since it has both the characteristics of autonomous underwater vehicle (AUV and remote operated underwater vehicle (ROV, it is able to achieve precision fix station operation and manual timely intervention. In the paper the initial design of basic components, such as vehicle, propulsion, batteries etc. and the control design of motion are introduced and analyzed. ROV’s conventional cable is replaced by a fiber optic cable, which makes it available for high-bandwidth real-time video, data telemetry and high-quality teleoperation. Furthermore, with the aid of the manual real-time remote operation and ranging sonar, it also resolves the AUV’s conflicting issue, which can absolutely adapt the actual complex sea environment and satisfy the unknown mission need. The whole battery system is designed as two-battery banks, whose voltages and temperatures are monitored through CAN (controller area network bus to avoid battery fire and explosion. A fuzzy-PID controller is designed for its motion control, including depth control and direction control. The controller synthesizes the advantage of fuzzy control and PID control, utilizes the fuzzy rules to on-line tune the parameters of PID controller, and achieves a better control effect. Experiment results demonstrate to show the effectiveness of the test-bed.

  13. STABILITY OF UNDERWATER STRUCTURE UNDER WAVE ATTACK

    Directory of Open Access Journals (Sweden)

    C. Paotonan

    2012-02-01

    Full Text Available Geotube is, among others, a type of coastal structure that is increasingly accepted for coastal protection especially underwater breakwater. Besides its relatively low cost, it has other advantages such as flexibility, ease of construction and the fact that it can be filled with local sand material. Similar to all other coastal structures, it should also be stable under wave attack. A simple theoretical approach based on linear wave was adopted to estimate the stability of such structure. The theoretical solution was then compared with an experimental study. The experimental study was conducted at the Hydraulics and Hydrology Laboratory of Universitas Gadjah Mada. However, instead of a real geotube, PVC pipe was used where the weight of the PVC was varied by adjusting the volume of sand in the pipe. The result indicated that the agreement between the theoretical solution and the experiment was encouraging. The analytical solution may be utilized to predict underwater pipe stability under wave attack with certain degree of accuracy.

  14. Sexual harassment within the marine sciences and the ethical dilemmas of collaboration: a case study in the education and reportino methods available to scientists, students, and staff on board a federal research vessel

    Science.gov (United States)

    Ohern, J.

    2016-02-01

    Within the Science, technology, engineering, and math (STEM) disciplines, a disparity between male and female involvement persists on the order of about 3:1. While roughly 40% of men with STEM degrees go on to pursue STEM jobs, just 26% of women with STEM degrees hold jobs within the STEM field. There are a number of contributing factors to these disparities, but one pernicious factor is the issue of sexual harassment and discrimination. For the marine sciences this is an especially concerning issue because our field research frequently takes place hundreds of miles offshore. Despite education and policy initiatives, sexual harassment pervades many research vessels and is often never addressed, discouraging female involvement and limiting the opportunities available to women. Ethical dilemmas develop when administrators do not want to risk limited field schedules and funding while investigations are conducted and harassment issues resolved. Additionally, scientists and staff often collaborate between institutions, benefitting science but blurring the lines of responsibility. In one such case, administrators within a federal research office declined to report sexual harassment taking place between contracted crew members on their research vessel. The lengthy review process and lack of culpability discourages reporting of sexual harassment and allows problematic situations to occur. This case study reviews the reporting mechanisms currently in place, the barriers to reporting, and the proposed methods for more effectively resolving discriminatory workplaces. Collaboration within marine science is an absolute necessity, and our research benefits from diverse working groups. As marine scientists we have an ethical responsibility to ensure safe working environments for both the scientists and the staff who make our research possible.

  15. Development and application of underwater robot vehicle for close inspection of spent fuels

    International Nuclear Information System (INIS)

    Yun, J. S.; Park, B. S.; Song, T. G.; Kim, S. H.; Cho, M. W.; Ahn, S. H.; Lee, J. Y.; Oh, S. C.; Oh, W. J.; Shin, K. W.; Woo, D. H.; Kim, H. G.; Park, J. S.

    1999-12-01

    The research and development efforts of the underwater robotic vehicle for inspection of spent fuels are focused on the development of an robotic vehicle which inspects spent fuels in the storage pool through remotely controlled actuation. For this purpose, a self balanced vehicle actuated by propellers is designed and fabricated, which consists of a radiation resistance camera, two illuminators, a pressure transducer and a manipulator. the algorithm for autonomous navigation is developed and its performance is tested at the swimming pool. The results of the underwater vehicle shows that the vehicle can easily navigate into the arbitrary directions while maintaining its balanced position. The camera provides a clear view of working environment by using the macro and zoom functions. The camera tilt device provides a wide field of view which is enough for monitoring the operation of manipulator. Also, the manipulator can pick up the dropped objects up to 4 kgf of weight. (author)

  16. Accuracy of Positioning Autonomous Biomimetic Underwater Vehicle Using Additional Measurement of Distances

    Directory of Open Access Journals (Sweden)

    Naus Krzysztof

    2016-12-01

    Full Text Available The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV using two methods: dead reckoning (DR and extended Kalman filter (EKF. In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.

  17. State of the art report: Underwater examination techniques for spent nuclear fuels

    International Nuclear Information System (INIS)

    Chun, Yong Bum

    1997-06-01

    In these days, much efforts are being put to increase the final discharge burnup of PWR fuels. Therefore, the necessity of the inspection of irradiated nuclear fuels assembly during the the refueling outage is greatly increased to evaluate the safe operation and soundness of fuel assemblies in their next cycles in core, and apply the results for safe operation and effective core management. The necessity to evaluate the irradiation performance of indigenous nuclear fuels pushes the relative researchers to the development of on-site fuel inspection techniques and devices which can perform the underwater inspection and measurement of irradiated nuclear fuels during refueling outage. To ensure the technologies, the status of in situ underwater fuel inspection techniques and equipment were investigated and reviewed. Those information provides the fuel inspection capability to evaluate and certificate the performance and integrity of nuclear fuels which leads to the safe operation of NPP. (author). 49 refs., 52 figs

  18. Underwater Leidenfrost nanochemistry for creation of size-tailored zinc peroxide cancer nanotherapeutics

    Science.gov (United States)

    Elbahri, Mady; Abdelaziz, Ramzy; Disci-Zayed, Duygu; Homaeigohar, Shahin; Sosna, Justyna; Adam, Dieter; Kienle, Lorenz; Dankwort, Torben; Abdelaziz, Moheb

    2017-05-01

    The dynamic underwater chemistry seen in nature is inspiring for the next generation of eco-friendly nanochemistry. In this context, green synthesis of size-tailored nanoparticles in a facile and scalable manner via a dynamic process is an interesting challenge. Simulating the volcano-induced dynamic chemistry of the deep ocean, here we demonstrate the Leidenfrost dynamic chemistry occurring in an underwater overheated confined zone as a new tool for customized creation of nanoclusters of zinc peroxide. The hydrodynamic nature of the phenomenon ensures eruption of the nanoclusters towards a much colder region, giving rise to growth of monodisperse, size-tailored nanoclusters. Such nanoparticles are investigated in terms of their cytotoxicity on suspension and adherent cells to prove their applicability as cancer nanotherapeutics. Our research can pave the way for employment of the dynamic green nanochemistry in facile, scalable fabrication of size-tailored nanoparticles for biomedical applications.

  19. Underwater fiber-wireless communication with a passive front end

    Science.gov (United States)

    Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

    2017-11-01

    We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

  20. Towards a Hybrid Approach to Context Reasoning for Underwater Robots

    Directory of Open Access Journals (Sweden)

    Xin Li

    2017-02-01

    Full Text Available Ontologies have been widely used to facilitate semantic interoperability and serve as a common information model in many applications or domains. The Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project, aiming to facilitate coordination and cooperation between heterogeneous underwater vehicles, also adopts ontologies to formalize information that is necessarily exchanged between vehicles. However, how to derive more useful contexts based on ontologies still remains a challenge. In particular, the extreme nature of the underwater environment introduces uncertainties in context data, thus imposing more difficulties in context reasoning. None of the existing context reasoning methods could individually deal with all intricacies in the underwater robot field. To this end, this paper presents the first proposal applying a hybrid context reasoning mechanism that includes ontological, rule-based, and Multi-Entity Bayesian Network (MEBN reasoning methods to reason about contexts and their uncertainties in the underwater robot field. The theoretical foundation of applying this reasoning mechanism in underwater robots is given by a case study on the oil spill monitoring. The simulated reasoning results are useful for further decision-making by operators or robots and they show that the consolidation of different reasoning methods is a promising approach for context reasoning in underwater robots.

  1. Dross and ultrafine particulate formation in underwater plasma-arc cutting

    International Nuclear Information System (INIS)

    Waldie, B.; Harris, W.K.; Edimburg

    1991-01-01

    Production rates and detailed chemical and physical characteristics of solid emissions from underwater plasma-arc cutting of non-active 304 grade stainless steel have been studied. Steel thicknesses to 40 mm have been cut in water depths of up to 10 metres. An hyperbaric vessel and a deep water test column and associated experimental equipment and techniques were developed for these studies. Concentrations and compositions of effluent by-product gases were also investigated. Part of the work done has been jointly with CEA Saclay and other institutions. Quantitative data, and possible mechanisms involved in the following aspects of the project were achieved: distribution, particle size and composition of solid emissions; composition and flowrates of effluent gases; effect of depth and other cutting conditions on solid and gaseous emissions; filtration resistance characteristics of water suspended particles; repeatability of cut quality and yields of emissions under standard cutting conditions

  2. BY FRUSTUM CONFINING VESSEL

    Directory of Open Access Journals (Sweden)

    Javad Khazaei

    2016-09-01

    Full Text Available Helical piles are environmentally friendly and economical deep foundations that, due to environmental considerations, are excellent additions to a variety of deep foundation alternatives available to the practitioner. Helical piles performance depends on soil properties, the pile geometry and soil-pile interaction. Helical piles can be a proper alternative in sensitive environmental sites if their bearing capacity is sufficient to support applied loads. The failure capacity of helical piles in this study was measured via an experimental research program that was carried out by Frustum Confining Vessel (FCV. FCV is a frustum chamber by approximately linear increase in vertical and lateral stresses along depth from top to bottom. Due to special geometry and applied bottom pressure, this apparatus is a proper choice to test small model piles which can simulate field stress conditions. Small scale helical piles are made with either single helix or more helixes and installed in fine grained sand with three various densities. Axial loading tests including compression and tension tests were performed to achieve pile ultimate capacity. The results indicate the helical piles behavior depends essentially on pile geometric characteristics, i.e. helix configuration and soil properties. According to the achievements, axial uplift capacity of helical model piles is about equal to usual steel model piles that have the helixes diameter. Helical pile compression bearing capacity is too sufficient to act as a medium pile, thus it can be substituted other piles in special geoenvironmental conditions. The bearing capacity also depends on spacing ratio, S/D, and helixes diameter.

  3. TMI-2 Vessel Investigation Project integration report

    Energy Technology Data Exchange (ETDEWEB)

    Wolf, J. R.; Rempe, J. L.; Stickler, L. A.; Korth, G. E.; Diercks, D. R.; Neimark, L. A.; Akers, D W; Schuetz, B. K.; Shearer, T L; Chavez, S. A.; Thinnes, G. L.; Witt, R. J.; Corradini, M L; Kos, J. A. [EG and G Idaho, Inc., Idaho Falls, ID (United States)

    1994-03-01

    The Three Mile Island Unit 2 (TMI-2) Vessel Investigation Project (VIP) was an international effort that was sponsored by the Nuclear Energy Agency of the Organization for Economic Cooperation and Development. The primary objectives of the VIP were to extract and examine samples from the lower head and to evaluate the potential modes of failure and the margin of structural integrity that remained in the TMI-2 reactor vessel during the accident. This report presents a summary of the major findings and conclusions that were developed from research during the VIP. Results from the various elements of the project are integrated to form a cohesive understanding of the vessel`s condition after the accident.

  4. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

    Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

  5. Application of YAG laser processing in underwater welding and cutting

    International Nuclear Information System (INIS)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi

    2002-01-01

    The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

  6. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

    Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...

  7. Adaptive Decentralized Control of Mobile Underwater Sensor Networks and Robots for Modeling Underwater Phenomena

    Directory of Open Access Journals (Sweden)

    Carrick Detweiler

    2014-05-01

    Full Text Available Understanding the dynamics of bodies of water and their impact on the global environment requires sensing information over the full volume of water. In this article, we develop a gradient-based decentralized controller that dynamically adjusts the depth of a network of underwater sensors to optimize sensing for computing maximally detailed volumetric models. We prove that the controller converges to a local minimum and show how the controller can be extended to work with hybrid robot and sensor network systems. We implement the controller on an underwater sensor network with depth adjustment capabilities. Through simulations and in-situ experiments, we verify the functionality and performance of the system and algorithm.

  8. Validation of HF Radar ocean surface currents in the Ibiza Channel using lagrangian drifters, moored current meter and underwater gliders

    Science.gov (United States)

    Lana, Arancha; Fernández, Vicente; Orfila, Alejandro; Troupin, Charles; Tintoré, Joaquín

    2015-04-01

    SOCIB High Frequency (HF) radar is one component of a multi-platform system located in the Balearic Islands and made up of Lagrangian platforms (profilers and drifting buoys), fixed stations (sea-level, weather, mooring and coastal), beach monitoring (camera), gliders, a research vessel as well as an ocean forecast system (waves and hydrodynamics). The HF radar system overlooks the Ibiza Channel, known as a 'choke point" where Atlantic and Mediterranean water masses interact and where meridional exchanges of water mass properties between the Balearic and the Algerian sub-basins take place. In order to determine the reliability of surface velocity measurements in this area, a quality assessment of the HF Radar is essential. We present the results of several validation experiments performed in the Ibiza Channel in 2013 and 2014. Of particular interest is an experiment started in September 2014 when a set of 13 surface drifters with different shapes and drogue lengths were released in the area covered by the HF radar. The drifter trajectories can be examined following the SOCIB Deployment Application (DAPP): http://apps.socib.es/dapp. Additionally, a 1-year long time series of surface currents obtained from a moored surface current-meter located in the Ibiza Channel, inside the area covered by the HF radar, was also used as a useful complementary validation exercise. Direct comparison between both radial surface currents from each radar station and total derived velocities against drifters and moored current meter velocities provides an assessment of the HF radar data quality at different temporal periods and geographical areas. Statistics from these comparisons give good correlation and low root-mean-square deviation. The results will be discussed for different months, geographical areas and types of surface drifters and wind exposure. Moreover, autonomous underwater glider constitutes an additional source of information for the validation of the observed velocity

  9. Development of advanced ultrasonic inspection system for nuclear power plant reactor vessels

    International Nuclear Information System (INIS)

    Sawaragi, Kazuo; Miyake, Yoshio; Nakayama, Junji; Tachibana, Kiyoshi; Oomichi, Takao; Fukagawa, Yukio; Fujiwara, Masahiro; Honmura, Shiro

    1991-01-01

    Ultrasonic inspection machine consisting of large and stiff columns and guide rails has been usually used in the pre-service inspection (PSI) and in-service inspection (ISI) of the nuclear power plant reactor vessels. However, the machine is so large-sized and heavy that maintenance and handling are degraded. To solve these problems, our robotics technology and idea obtained from experience of reactor vessel ISI have been applied to develop a new second generation machine that can dramatically reduce critical path time of reactor vessel ISI. This system is characterized by the following features. (1) It can move automatically and can set the position accurately by underwater positioning system. (2) Inspection is made by the articulated manipulator of high rigidity and high path accuracy. (3) The total weight is approx 300 kg in air (0 kg underwater). So the plant's polar crane is not required during inspection. Realization of this system, we have studied and designed all of the systems. We have also fabricated prototype machine to make the functional test using full scale mock up of reactor vessel. (author)

  10. Precision Geo-Referenced Navigation for Deep-Diving Autonomous Underwater Gliders and Enabled Scientific Applications

    Science.gov (United States)

    Kinsey, J. C.; Jakuba, M.; Partan, J. W.; Webster, S.

    2016-02-01

    Recent and underway development efforts promise to deliver long endurance and deep-diving autonomous underwater gliders with the potential to persistently observe the deep (6000 m) ocean interior and sea floor over time scales of months to years. Both deep- and shallow-diving gliders navigate primarily by dead-reckoning between surfacing for GPS fixes, a paradigm that precludes their use in missions where science objectives call for precise navigation deep in the water column or near the deep sea floor. Coupled with an autonomous surface vessel, one-way travel time inverted ultra-short baseline positioning (OWTT-iUSBL) offers a compelling alternative to infrastructure-intensive external acoustic aiding. Such systems could provide navigation aiding to multiple underwater vehicles while providing autonomy and endurance for the system as a whole comparable to that of a solitary vehicle. While the concept of OWTT-iUSBL is not new, we argue that the maturity of acoustic modem technology combined with the emergence of very low-power precision timing and attitude sensors will make it possible to deploy OWTT-iUSBL systems on low-power underwater vehicles in the near term. Here, two recent supporting analyses are reviewed: (1) the achievable accuracy of OWTT-iUSBL navigation including single-fix error budgets for specific system configurations using representative commercially available components; and (2) the impact of a specific low-power configuration on the endurance of a deep-profiling autonomous underwater glider. Our analyses suggest that a practically realizable OWTT-iUSBL system could provide navigational accuracy 1-2 orders of magnitude superior to that presently achievable using periodic ascents to acquire global positioning system (GPS), and, for sufficiently deep deployments, actually yield more near-bottom data despite reducing overall vehicle endurance. Furthermore, we present some potential scientific applications that might benefit from these technologies

  11. Reactor pressure vessel materials

    International Nuclear Information System (INIS)

    Suzuki, K.

    1998-01-01

    As a result of the popularity of the Agencies report 'Neutron Irradiation Embrittlement of Reactor Pressure Vessel Steels' of 1975, it was decided that another report on this broad subject would be of use. In this report, background and contemporary views on specially identified areas of the subject are considered as self-contained chapters, written by experts. Chapter 3 offers a detailed treatment of the selection criteria and properties of reactor pressure vessel materials. The main attention is directed towards steel and ingot making and the subsequent material processing

  12. Sapphire tube pressure vessel

    Science.gov (United States)

    Outwater, John O.

    2000-01-01

    A pressure vessel is provided for observing corrosive fluids at high temperatures and pressures. A transparent Teflon bag contains the corrosive fluid and provides an inert barrier. The Teflon bag is placed within a sapphire tube, which forms a pressure boundary. The tube is received within a pipe including a viewing window. The combination of the Teflon bag, sapphire tube and pipe provides a strong and inert pressure vessel. In an alternative embodiment, tie rods connect together compression fittings at opposite ends of the sapphire tube.

  13. Modelling of in-vessel retention after relocation of corium into the lower plenum - Evaluation of the temperature field and of the viscoplastic deformation of the vessel wall. Reactor safety research, project No.:150 1254 - Final report; Beitrag zur Modellierung der Schmelzerueckhaltung im RDB nach Verlagerung von Corium in das untere Plenum - Berechnung des Temperaturfeldes und der viskoplastischen Verformung der Behaelterwand. Reaktorsicherheitsforschung, Vorhaben-Nr.: 150 1254 - Abschlussbericht

    Energy Technology Data Exchange (ETDEWEB)

    Altstadt, E.; Willschuetz, H.G. [Forschungszentrum Rossendorf e.V. (FZR), Dresden (Germany)

    2005-01-01

    Considering the hypothetical core melt down scenario for a light water reactor (LWR) a possible failure mode of the reactor pressure vessel (RPV) and its failure time has to be investigated for a determination of the loadings on the containment. Several experiments have been performed accompanied with material properties evaluation, theoretical, and numerical work. At the Institute Of Safety Research of the FZR a finite element model has been developed simulating the thermal processes and the viscoplastic behaviour of the vessel wall. An advanced model for creep and material damage has been established and has been validated using experimental data. The thermal hydraulic and the mechanical calculations are sequentially and recursively coupled. The model is capable of evaluating fracture time and fracture position of a vessel with an internally heated melt pool. The model was applied to pre- and post test calculations for the FOREVER test series representing the RPV of a PWR in the scale of 1:10. These experiments were performed at the Royal Institute of Technology in Stockholm. The results of the calculations can be summarised as follows: The creeping process is caused by the simultaneous presence of high temperature (>600 C) and pressure (>1 MPa). The hot focus region is the most endangered zone exhibiting the highest creep strain rates. The exact level of temperature and pressure has an influence on the vessel failure time but not on the failure position. The failure time can be predicted with an uncertainty of 20 to 25%. This uncertainty is caused by the large scatter and the high temperature sensitivity of the viscoplastic properties of the RPV steel. Contrary to the hot focus region, the lower centre of the vessel head exhibits a higher strength because of the lower temperatures in this zone. The lower part moves down without significant deformation. Therefore it can be assumed, that the vessel failure can be retarded or prevented by supporting this range. The

  14. Status of the ANTARES underwater neutrino telescope

    CERN Document Server

    Hallewell, G D

    2003-01-01

    The ANTARES Collaboration is constructing a deep underwater neutrino detector for operation at -2400 m off the French Mediterranean coast near Toulon. The detector, which will begin operation in 2004, will have an aperture of approx 0.1 km sup 2 , and will contain 900 photomultiplier tubes. The photomultiplier axes will be angled 45 deg. downward toward the seabed to observe the Cherenkov emissions of upward-going muons created by the interactions in or near the detector of high energy neutrinos traversing the Earth. These neutrinos arrive undeviated from a variety of galactic and extragalactic sources of astrophysical interest, and might be produced in the possible annihilation of dark matter neutralinos. The design and present status of the detector are summarized. Results from site evaluation and the development of supporting instrumentation are outlined.

  15. Transducers and arrays for underwater sound

    CERN Document Server

    Butler, John L

    2016-01-01

    This improved and updated second edition covers the theory, development, and design of electro-acoustic transducers for underwater applications. This highly regarded text discusses the basics of piezoelectric and magnetostrictive transducers that are currently being used as well as promising new designs. It presents the basic acoustics as well as the specific acoustics data needed in transducer design and evaluation. A broad range of designs of projectors and hydrophones are described in detail along with methods of modeling, evaluation, and measurement. Analysis of projector and hydrophone transducer arrays, including the effects of mutual radiation impedance and numerical models for elements and arrays, are also covered. The book includes new advances in transducer design and transducer materials and has been completely reorganized to be suitable for use as a textbook, as well as a reference or handbook. The new edition contains updates to the first edition, end-of-chapter exercises, and solutions to select...

  16. The NESTOR underwater neutrino telescope project

    Energy Technology Data Exchange (ETDEWEB)

    Rapidis, Petros A. [Institute of Nuclear Physics, National Center for Scientific Research ' Demokritos' , Athens 15310 (Greece)], E-mail: rapidis@inp.demokritos.gr

    2009-04-11

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  17. A Validation Process for Underwater Localization Algorithms

    Directory of Open Access Journals (Sweden)

    Marc Hildebrandt

    2014-09-01

    Full Text Available This paper describes the validation process of a localization algorithm for underwater vehicles. In order to develop new localization algorithms, it is essential to characterize them with regard to their accuracy, long-term stability and robustness to external sources of noise. This is only possible if a gold-standard reference localization (GSRL is available against which any new localization algorithm (NLA can be tested. This process requires a vehicle which carries all the required sensor and processing systems for both the GSRL and the NLA. This paper will show the necessity of such a validation process, briefly sketch the test vehicle and its capabilities, describe the challenges in computing the localizations of both the GSRL and the NLA simultaneously for comparison, and conclude with experimental data of real-world trials.

  18. Improved Underwater Excitation-Emission Matrix Fluorometer

    Science.gov (United States)

    Moore, Casey; daCunha, John; Rhoades, Bruce; Twardowski, Michael

    2007-01-01

    A compact, high-resolution, two-dimensional excitation-emission matrix fluorometer (EEMF) has been designed and built specifically for use in identifying and measuring the concentrations of organic compounds, including polluting hydrocarbons, in natural underwater settings. Heretofore, most EEMFs have been designed and built for installation in laboratories, where they are used to analyze the contents of samples collected in the field and brought to the laboratories. Because the present EEMF can be operated in the field, it is better suited to measurement of spatially and temporally varying concentrations of substances of interest. In excitation-emission matrix (EEM) fluorometry, fluorescence is excited by irradiating a sample at one or more wavelengths, and the fluorescent emission from the sample is measured at multiple wavelengths. When excitation is provided at only one wavelength, the technique is termed one-dimensional (1D) EEM fluorometry because the resulting matrix of fluorescence emission data (the EEM) contains only one row or column. When excitation is provided at multiple wavelengths, the technique is termed two-dimensional (2D) EEM fluorometry because the resulting EEM contains multiple rows and columns. EEM fluorometry - especially the 2D variety - is well established as a means of simultaneously detecting numerous dissolved and particulate compounds in water. Each compound or pool of compounds has a unique spectral fluorescence signature, and each EEM is rich in information content, in that it can contain multiple fluorescence signatures. By use of deconvolution and/or other mixture-analyses techniques, it is often possible to isolate the spectral signature of compounds of interest, even when their fluorescence spectra overlap. What distinguishes the present 2D EEMF over prior laboratory-type 2D EEMFs are several improvements in packaging (including a sealed housing) and other aspects of design that render it suitable for use in natural underwater

  19. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

    Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.

  20. Collision Detection for Underwater ROV Manipulator Systems.

    Science.gov (United States)

    Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

    2018-04-06

    Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

  1. The NESTOR underwater neutrino telescope project

    International Nuclear Information System (INIS)

    Rapidis, Petros A.

    2009-01-01

    The NESTOR collaboration is continuing its efforts towards deploying an underwater neutrino telescope. Further site studies (e.g. water light transmission measurements, sedimentation rates, etc.) are being carried out within the context of characterizing a site that may host the proposed KM3NeT infrastructure. In addition, following the successful deployment of a single floor of a NESTOR tower in 2003, five floors are now in the final stages of preparation. The use of these five floors in a form of a truncated tower together with four autonomous strings to be located some 300 m away from the tower is being contemplated. This arrangement, named NuBE (for Neutrino Burst Experiment), that may allow the detection neutrinos in coincidence with Gamma Ray Bursts, will be described.

  2. AUV Positioning Method Based on Tightly Coupled SINS/LBL for Underwater Acoustic Multipath Propagation

    Directory of Open Access Journals (Sweden)

    Tao Zhang

    2016-03-01

    Full Text Available This paper researches an AUV (Autonomous Underwater Vehicle positioning method based on SINS (Strapdown Inertial Navigation System/LBL (Long Base Line tightly coupled algorithm. This algorithm mainly includes SINS-assisted searching method of optimum slant-range of underwater acoustic propagation multipath, SINS/LBL tightly coupled model and multi-sensor information fusion algorithm. Fuzzy correlation peak problem of underwater LBL acoustic propagation multipath could be solved based on SINS positional information, thus improving LBL positional accuracy. Moreover, introduction of SINS-centered LBL locating information could compensate accumulative AUV position error effectively and regularly. Compared to loosely coupled algorithm, this tightly coupled algorithm can still provide accurate location information when there are fewer than four available hydrophones (or within the signal receiving range. Therefore, effective positional calibration area of tightly coupled system based on LBL array is wider and has higher reliability and fault tolerance than loosely coupled. It is more applicable to AUV positioning based on SINS/LBL.

  3. Measurement and analysis of self-noise in hybrid-driven underwater gliders

    Directory of Open Access Journals (Sweden)

    LIU Lu

    2017-08-01

    Full Text Available The Hybrid-driven Underwater Glider (HUG is a new type of submersible vehicle which combines the functions of traditional Autonomous Underwater Vehicles(AUVand Autonomous Underwater Gliders(AUG. In order to study its noise source distribution and basic self-noise characteristics, a self-noise acquisition system based on the HUG was designed and developed, and a noise analysis test carried out in a free-field pool. In August 2016, the sea trial of the Petrel II glider was conducted in the South China Sea, with observation data at a depth range of 1 000 m as the research object. The self-noise data of the glider platform under different working conditions was obtained through the step-by-step operation method. The experimental analysis and results show that the self-noise acquisition system is stable. The contribution of mechanical noise to self-noise is greatest when the glider works in the gliding mode, while the self-noise band above 500 Hz is closely related to the work of the buoyancy adjustment unit, and peaks at 1 kHz. According to the analysis of the basic characteristics of self-noise, this provides some guidance for the implementation of vibration and noise reduction.

  4. Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network

    Directory of Open Access Journals (Sweden)

    Zhibin Yu

    2017-01-01

    Full Text Available Underwater inherent optical properties (IOPs are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

  5. Development of measuring and control systems for underwater cutting of radioactive components

    International Nuclear Information System (INIS)

    Drews, P.; Fuchs, K.

    1990-01-01

    Shutdown and dismantling of nuclear power plants requires special techniques to decommission the radioactive components involved. For reasons of safety, decommissioning of components under water can be advantageous because of the radioactive shielding effect of water. In this project, research activities and developmental works focused on the realization of different sensor systems and their adaptation to cutting tasks. A new image-processing system has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). For control of process parameters, different inductive, ultrasonic and optical sensors have been modified and tested. The investigations performed are aimed at assuring high-quality underwater cutting with the help of sensor systems specially adapted to cutting tasks, with special signal procession and evaluation through microcomputer control. It is important that special attention be paid to the reduction of interferences in image pick-up and procession. The measuring system has been designed and realized according to the consideration of the demands for underwater cutting processes. The reliability of the system was tested in conjunction with a four-axes handling system

  6. Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network.

    Science.gov (United States)

    Yu, Zhibin; Wang, Yubo; Zheng, Bing; Zheng, Haiyong; Wang, Nan; Gu, Zhaorui

    2017-01-01

    Underwater inherent optical properties (IOPs) are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA) deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

  7. Influence of range-gated intensifiers on underwater imaging system SNR

    Science.gov (United States)

    Wang, Xia; Hu, Ling; Zhi, Qiang; Chen, Zhen-yue; Jin, Wei-qi

    2013-08-01

    Range-gated technology has been a hot research field in recent years due to its high effective back scattering eliminating. As a result, it can enhance the contrast between a target and its background and extent the working distance of the imaging system. The underwater imaging system is required to have the ability to image in low light level conditions, as well as the ability to eliminate the back scattering effect, which means that the receiver has to be high-speed external trigger function, high resolution, high sensitivity, low noise, higher gain dynamic range. When it comes to an intensifier, the noise characteristics directly restrict the observation effect and range of the imaging system. The background noise may decrease the image contrast and sharpness, even covering the signal making it impossible to recognize the target. So it is quite important to investigate the noise characteristics of intensifiers. SNR is an important parameter reflecting the noise features of a system. Through the use of underwater laser range-gated imaging prediction model, and according to the linear SNR system theory, the gated imaging noise performance of the present market adopted super second generation and generation Ⅲ intensifiers were theoretically analyzed. Based on the active laser underwater range-gated imaging model, the effect to the system by gated intensifiers and the relationship between the system SNR and MTF were studied. Through theoretical and simulation analysis to the image intensifier background noise and SNR, the different influence on system SNR by super second generation and generation Ⅲ ICCD was obtained. Range-gated system SNR formula was put forward, and compared the different effect influence on the system by using two kind of ICCDs was compared. According to the matlab simulation, a detailed analysis was carried out theoretically. All the work in this paper lays a theoretical foundation to further eliminating back scattering effect, improving

  8. Training rats to voluntarily dive underwater: investigations of the mammalian diving response.

    Science.gov (United States)

    McCulloch, Paul F

    2014-11-12

    Underwater submergence produces autonomic changes that are observed in virtually all diving animals. This reflexly-induced response consists of apnea, a parasympathetically-induced bradycardia and a sympathetically-induced alteration of vascular resistance that maintains blood flow to the heart, brain and exercising muscles. While many of the metabolic and cardiorespiratory aspects of the diving response have been studied in marine animals, investigations of the central integrative aspects of this brainstem reflex have been relatively lacking. Because the physiology and neuroanatomy of the rat are well characterized, the rat can be used to help ascertain the central pathways of the mammalian diving response. Detailed instructions are provided on how to train rats to swim and voluntarily dive underwater through a 5 m long Plexiglas maze. Considerations regarding tank design and procedure room requirements are also given. The behavioral training is conducted in such a way as to reduce the stressfulness that could otherwise be associated with forced underwater submergence, thus minimizing activation of central stress pathways. The training procedures are not technically difficult, but they can be time-consuming. Since behavioral training of animals can only provide a model to be used with other experimental techniques, examples of how voluntarily diving rats have been used in conjunction with other physiological and neuroanatomical research techniques, and how the basic training procedures may need to be modified to accommodate these techniques, are also provided. These experiments show that voluntarily diving rats exhibit the same cardiorespiratory changes typically seen in other diving animals. The ease with which rats can be trained to voluntarily dive underwater, and the already available data from rats collected in other neurophysiological studies, makes voluntarily diving rats a good behavioral model to be used in studies investigating the central aspects of the

  9. The alkaline aluminium/hydrogen peroxide power source in the Hugin II unmanned underwater vehicle

    Science.gov (United States)

    Hasvold, Øistein; Johansen, Kjell Håvard; Mollestad, Ole; Forseth, Sissel; Størkersen, Nils

    In 1993, The Norwegian Defence Research Establishment (FFI) demonstrated AUV-Demo, an unmanned (untethered) underwater vehicle (UUV), powered by a magnesium/dissolved oxygen seawater battery (SWB). This technology showed that an underwater range of at least 1000 nautical miles at a speed of 4 knots was possible, but also that the maximum hotel load this battery system could support was very limited. Most applications for UUV technology need more power over a shorter period of time. Seabed mapping using a multibeam echo sounder mounted on an UUV was identified as a viable application and the Hugin project was started in 1995 in cooperation with Norwegian industry. For this application, an endurance of 36 h at 4 knots was required. Development of the UUV hull and electronics system resulted in the UUV Hugin I. It carries a Ni/Cd battery of 3 kW h, allowing up to 6 h under-water endurance. In parallel, we developed a battery based on a combination of alkaline Al/air and SWB technology, using a circulating alkaline electrolyte, aluminium anodes and maintaining the oxidant concentration in the electrolyte by continuously adding hydrogen peroxide (HP) to the electrolyte. This concept resulted in a safe battery, working at ambient pressure (balanced) and with sufficient power and energy density to allow the UUV Hugin II to make a number of successive dives, each of up to 36 h duration and with only 1 h deck time between dives for HP refill and electrolyte exchange. After 100 h, an exchange of anodes takes place. The power source consists of a four-cell Al/HP battery, a DC/DC converter delivering 600 W at 30 V, circulation and dosing pumps and a battery control unit. Hugin II is now in routine use by the Norwegian Underwater Intervention AS (NUI) which operates the UUV for high-precision seabed mapping down to a water depth of 600 m.

  10. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

    Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J

    2013-01-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)

  11. On sampling the ocean using underwater gliders

    Science.gov (United States)

    Rudnick, Daniel L.; Cole, Sylvia T.

    2011-08-01

    The sampling characteristics of an underwater glider are addressed through comparison with contemporaneous measurements from a ship survey using a towed vehicle. The comparison uses the underwater glider Spray and the towed vehicle SeaSoar north of Hawaii along 158°W between 22.75°N and 34.5°N. A Spray dive from the surface to 1000 m and back took 5.6 h and covered 5.3 km, resulting in a horizontal speed of 0.26 m s-1. SeaSoar undulated between the surface and 400 m, completing a cycle in 11 min while covering 2.6 km, for a speed of 3.9 m s-1. Adjacent profiles of temperature and salinity are compared between the two platforms to prove that each is accurate. Spray and SeaSoar data are compared through sections, isopycnal spatial series, and wave number spectra. The relative slowness of the glider results in the projection of high-frequency oceanic variability, such as internal waves, onto spatial structure. The projection is caused by Doppler smearing because of finite speed and aliasing due to discrete sampling. The projected variability is apparent in properties measured on depth surfaces or in isopycnal depth. No projected variability is seen in observations of properties on constant density surfaces because internal waves are intrinsically filtered. Wave number spectra suggest that projected variability affects properties at constant depth at wavelengths shorter than 30 km. These results imply that isobaric quantities, like geostrophic shear, are valid at wavelengths longer than 30 km, while isopycnal quantities, like spice, may be analyzed for scales as small as a glider measures.

  12. Automated Underwater Image Restoration and Retrieval of Related Optical Properties

    National Research Council Canada - National Science Library

    Hou, Weilin; Gray, Deric J; Weidemann, Alan D; Fournier, Georges R; Forand, J. L

    2007-01-01

    ...) in the spatial domain and the modulation transfer function (MTF) in the frequency domain. Due to the intensity variations involved in underwater sensing, denoising is carefully carried out by wavelet decompositions...

  13. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

    In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

  14. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

    Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

    2017-09-01

    Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.

  15. Collision Avoidance of Moving Obstacles for Underwater Robots

    Directory of Open Access Journals (Sweden)

    KWON KYOUNG YOUB

    2006-10-01

    Full Text Available A fuzzy logic for autonomous navigation of underwater robot is proposed in this paper. The VFF(Virtual Force Field algorithm, which is widely used in the field of mobile robot, is modified for application to the autonomous navigation of underwater robot. This Modified Virtual Force Field(MVFF algorithm using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robot. A graphic simulator based on OpenGL for an autonomous navigation has been developed. The good performance of the proposed MVFF algorithm is verified through computer simulations on an underwater robot.

  16. Multi-layer protective armour for underwater shock wave mitigation

    Directory of Open Access Journals (Sweden)

    Ahmed Hawass

    2015-12-01

    The strain gauge data and displacement sensors results showed that the multi-layer plates have higher level of underwater shock wave mitigation than the triple aluminum plates with strain and deflection of nearly 50%.

  17. Underwater image enhancement through depth estimation based on random forest

    Science.gov (United States)

    Tai, Shen-Chuan; Tsai, Ting-Chou; Huang, Jyun-Han

    2017-11-01

    Light absorption and scattering in underwater environments can result in low-contrast images with a distinct color cast. This paper proposes a systematic framework for the enhancement of underwater images. Light transmission is estimated using the random forest algorithm. RGB values, luminance, color difference, blurriness, and the dark channel are treated as features in training and estimation. Transmission is calculated using an ensemble machine learning algorithm to deal with a variety of conditions encountered in underwater environments. A color compensation and contrast enhancement algorithm based on depth information was also developed with the aim of improving the visual quality of underwater images. Experimental results demonstrate that the proposed scheme outperforms existing methods with regard to subjective visual quality as well as objective measurements.

  18. Navigation of autonomous underwater vehicle using extended kalman filter

    Digital Repository Service at National Institute of Oceanography (India)

    Ranjan, T.N.; Nherakkol, A.; Navelkar, G.S.

    To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude...

  19. The reactor vessel steels

    International Nuclear Information System (INIS)

    Bilous, W.; Hajewska, E.; Szteke, W.; Przyborska, M.; Wasiak, J.; Wieczorkowski, M.

    2005-01-01

    In the paper the fundamental steels using in the construction of pressure vessel water reactor are discussed. The properties of these steels as well as the influence of neutron irradiation on its degradation in the time of exploitation are also done. (authors)

  20. GOLD PRESSURE VESSEL SEAL

    Science.gov (United States)

    Smith, A.E.

    1963-11-26

    An improved seal between the piston and die member of a piston-cylinder type pressure vessel is presented. A layer of gold, of sufficient thickness to provide an interference fit between the piston and die member, is plated on the contacting surface of at least one of the members. (AEC)

  1. Reactor vessel stud tensioner

    International Nuclear Information System (INIS)

    Malandra, L.J.; Beer, R.W.; Salton, R.B.; Spiegelman, S.R.; Cognevich, M.L.

    1982-01-01

    A quick-acting stud tensioner, for facilitating the loosening or tightening of a stud nut on a reactor vessel stud, has gripper jaws which when the tensioner is lowered into engagement with the upper end of the stud are moved inwards to grip the upper end and which when the tensioner is lifted move outward to release the upper end. (author)

  2. Nuclear reactor vessels

    International Nuclear Information System (INIS)

    Sato, Yoshimi; Fukuda, Yoshio.

    1987-01-01

    Purpose: To improve the strength and reliability by moderating thermal stresses produced to the furnace walls of a reactor vessel by the thermal shocks upon reactor shutdown and tripping and reducing the generation of developing thermal ratchet strains produced upon repeating thermal shocks. Constitution: Upon occurrence of reactor shutdown or tripping, the temperature is detected and the pressure of the cover gas is controlled such that the axial temperature slope is decreased to displace the liquid surface in an annular vessel. Then, for attaining the stress reducing temperature, control is so conducted that the temperature of the lower portion is not higher than the upper portion in the axial temperature distribution of the reactor vessel. By controlling the pressure of the cover gas in the annular vessel in this way, the liquid level can be raised to a cover gas portion remaining at a high temperature state. Further, the temperature of the furnace wall can always be decreased to a temperature of the high temperature plenum thereby enabling to moderate the thermal stresses. (Yoshihara, H.)

  3. Network of endocardial vessels.

    Science.gov (United States)

    Lee, Byung-Cheon; Kim, Hong Bae; Sung, Baeckkyoung; Kim, Ki Woo; Sohn, Jamin; Son, Boram; Chang, Byung-Joon; Soh, Kwang-Sup

    2011-01-01

    Although there have been reports on threadlike structures inside the heart, they have received little attention. We aimed to develop a method for observing such structures and to reveal their ultrastructures. An in situ staining method, which uses a series of procedures of 0.2-0.4% trypan blue spraying and washing, was applied to observe threadlike structures on the surfaces of endocardia. The threadlike structures were isolated and observed by using confocal laser scanning microscopy (CLSM) and transmission electron microscopy (TEM). Networks of endocardial vessels (20 μm in thickness) with expansions (40-100 μm in diameter) were visualized; they were movable on the endocardium of the bovine atrium and ventricle. CLSM showed that (1) rod-shaped nuclei were aligned along the longitudinal direction of the endocardial vessel and (2) there were many cells inside the expansion. TEM on the endocardial vessel revealed that (1) there existed multiple lumens (1-7 μm in diameter) and (2) the extracellular matrices mostly consisted of collagen fibers, which were aligned along the longitudinal direction of the endocardial vessel or were locally organized in reticular structures. We investigated the endocardial circulatory system in bovine cardiac chambers and its ultrastructures, such as nucleic distributions, microlumens, and collagenous extracellular matrices. Copyright © 2011 S. Karger AG, Basel.

  4. Pressure vessel integrity 1991

    International Nuclear Information System (INIS)

    Bhandari, S.; Doney, R.O.; McDonald, M.S.; Jones, D.P.; Wilson, W.K.; Pennell, W.E.

    1991-01-01

    This volume contains papers relating to the structural integrity assessment of pressure vessels and piping, with special emphasis on nuclear industry applications. The papers were prepared for technical sessions developed under the sponsorship of the ASME Pressure Vessels and Piping Division Committees for Codes and Standards, Computer Technology, Design and Analysis, and Materials Fabrication. They were presented at the 1991 Pressure Vessels and Piping Division Conference in San Diego, California, June 23-27. The primary objective of the sponsoring organization is to provide a forum for the dissemination and discussion of information on development and application of technology for the structural integrity assessment of pressure vessels and piping. This publication includes contributions from authors from Australia, France, Japan, Sweden, Switzerland, the United Kingdom, and the United States. The papers here are organized in six sections, each with a particular emphasis as indicated in the following section titles: Fracture Technology Status and Application Experience; Crack Initiation, Propagation and Arrest; Ductile Tearing; Constraint, Stress State, and Local-Brittle-Zones Effects; Computational Techniques for Fracture and Corrosion Fatigue; and Codes and Standards for Fatigue, Fracture and Erosion/Corrosion

  5. Underwater acoustic communications. From point-to-point to networks

    OpenAIRE

    Jesus, S. M.

    2013-01-01

    This is a review presentation that addresses recent developments in underwater acoustic telemetry as a tool for ocean observation, monitoring and protection. Distributed sensing is a paradigm with important reflections in oceanic technology where bottom installed structures can not always be connected to a central hub through cabled networks. Moreover, recent developments in ocean robotics lead to the off-the-shelf availability of autonomous underwater vehicles that rely on wireless communica...

  6. Estimation of underwater acoustic fields at high frequencies

    OpenAIRE

    Temsamani, A.B.; Vandenplas, S.; Van Biesen, L.

    2001-01-01

    In this work a parametric modeling of the underwater acoustic field is investigated in a laboratory scale at high frequencies (150-850 kHz). The aim is to develop experimentally verifiable theoretical models to investigate the acoustic field propagation in elastic and viscoelastic or porous media. To achieve this goal, the efforts have been directed to three integral parts pertaining to the development of the methods. The first part deals with the modeling of the underwater acoustic field fol...

  7. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Science.gov (United States)

    Xiao, Kun; Fang, Shao-Ji; Pang, Yong-Jie

    2007-06-01

    To impove underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

  8. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  9. Terminal homing position estimation forAutonomous underwater vehicle docking

    Science.gov (United States)

    2017-06-01

    79  ix LIST OF FIGURES Figure 1.  NPS REMUS 100 with WHOI Docking Station. Source: [1...underwater missions were short and quick . Now, with advanced technology, underwater missions can be as long as the user desires. The new AUVs have...the full information problem. In order to use the MHE approach for real-time applications, the optimization process should be quick and accurate

  10. A potential flow based flight simulator for an underwater glider

    OpenAIRE

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-marc; Deniset, Francois

    2013-01-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of th...

  11. Boundary curvature effects on gas bubble oscillations in underwater explosion

    OpenAIRE

    Matsumoto, Kazuhiro

    1996-01-01

    The oscillation of a gas bubble produced as a result of underwater explosion could cause the severe whipping damage on nearby marine vehicle. The effects of rigid boundary curvatures to explosive gas bubble oscillation behavior in underwater were investigated. The analyses were conducted using a multimaterial Lagrangian-Eulerian finite element code, MSC/DYTRAN. The incident shock wave pressure, bubble pulse pressure, gas bubble radius and period were calculated for the case of detonation of a...

  12. Positioning method for underwater moving robot

    International Nuclear Information System (INIS)

    Matsuyama, Aya; Kobayashi, Koji; Miura, Yuichi; Hirose, Naoya

    1998-01-01

    A supersonic flaw detection unit which generates supersonic waves and receives reflection waves is attached to a robot main body, the robot main body is moved along wall surfaces, and supersonic waves are generated from the supersonic flaw detection unit to the inside of the wall surface of a pressure vessel. The kind of the protrusion formed on the outer wall surface of a pressure vessel and the position of the robot main body relative to the protrusion is detected and then positioning is conducted after determining the position of the robot main body relative to the inner wall surface. The kinds and positions of mounted protrusions such as nozzles and brackets are previously confirmed by designed dimension or drawings, accordingly, if the kind and the position of the protrusion are detected, the positioning of the starting point of the robot relative to the pressure vessel can be performed easily at a high accuracy. (N.H.)

  13. Gas-liquid contacting in mixing vessels

    International Nuclear Information System (INIS)

    Mann, R.

    1983-01-01

    This report by Dr. R. Mann of UMIST presents a critical survey of literature on the contacting of gases with liquids in stirred vessels. Research undertaken in the last fifteen years in analysed, and promising areas for future research are identified. The report deals with physical contacting, mass transfer between the gas and liquid phases and the utilisation of the stirred vessel as a gas-liquid reactor. Three sections are given on gas-liquid contacting: physical aspects; interphase mass transfer; and chemical reactions. It also discusses recent new approaches and includes a summary of conclusions, nomenclature and references

  14. PDX vacuum vessel stress analysis

    International Nuclear Information System (INIS)

    Nikodem, Z.D.

    1975-01-01

    A stress analysis of PDX vacuum vessel is described and the summary of results is presented. The vacuum vessel is treated as a toroidal shell of revolution subjected to an internal vacuum. The critical buckling pressure is calculated. The effects of the geometrical discontinuity at the juncture of toroidal shell head and cylindrical outside wall, and the concavity of the cylindrical wall are examined. An effect of the poloidal field coil supports and the vessel outside supports on the stress distribution in the vacuum vessel is determined. A method evaluating the influence of circular ports in the vessel wall on the stress level in the vessel is outlined

  15. Performance Evaluation of Hybrid Acoustic-Optical Underwater Swarm Networks

    Directory of Open Access Journals (Sweden)

    Samuela PERSIA

    2016-04-01

    Full Text Available The Underwater Swarm is a particular Underwater Network configuration characterized by nodes very close one to each other, with mobility capability. The structure of the network is that of a distributed network, in which the nodes, through the exchange of control information, will take decisions in collaborative manner. This type of network raises challenges for its effective design and development, for which the only use of acoustic communication as traditionally suggested in underwater communication could be not enough. A new emerging solution could be a hybrid solution that combines the use of acoustic and optical channel in order to overcome the acoustic channel limitations in underwater environment. In this work, we want to investigate how the acoustic and optical communications influence the Underwater Swarm performance by considering the Low Layers Protocols (Physical Layer, Data Link Layer and Network Layer effects over the two different propagation technologies. Performance simulations have been carried out to suggest how the new hybrid system could be designed. This study will permit to provide useful analysis for the real implementation of an Underwater Swarm based on hybrid communication technology.

  16. Jellyfish Identification Software for Underwater Laser Cameras (JTRACK

    Directory of Open Access Journals (Sweden)

    Patrizio Mariani

    2018-02-01

    Full Text Available Jellyfish can form erratic blooms in response to seasonal and irregular changes in environmental conditions with often large, transient effects on local ecosystem structure as well as effects on several sectors of the marine and maritime economy. Early warning systems able to detect conditions for jelly fish proliferation can enable management responses to mitigate such effects providing benefit to local ecosystems and economies. We propose here the creation of a research team in response to the EU call for proposal under the European Maritime and Fisheries Fund called “Blue Labs: innovative solutions for maritime challenges”. The project will establish a BLUELAB team with a strong cross-sectorial component that will benefit of the expertise of researchers in IT and Marine Biology, Computer Vision and embedded systems, which will work in collaboration with Industry and Policy maker to develop an early warning system using a new underwater imaging system based on Time of Flight Laser cameras. The camera will be combined to machine learning algorithm allowing autonomous early detection of jellyfish species (e.g. polyp, ephyra and planula stages. The team will develop the system and the companion software and will demonstrate its applications in real case conditions.

  17. Advanced Approach of Reactor Pressure Vessel In-service Inspection

    International Nuclear Information System (INIS)

    Matokovic, A.; Picek, E.; Pajnic, M.

    2006-01-01

    The most important task of every utility operating a nuclear power plant is the continuously keeping of the desired safety and reliability level. This is achieved by the performance of numerous inspections of the components, equipment and system of the nuclear power plant in operation and in particular during the scheduled maintenance periods at re-fueling time. Periodic non-destructive in-service inspections provide most relevant criteria of the integrity of primary circuit pressure components. The task is to reliably detect defects and realistically size and characterize them. One of most important and the most extensive examination is a reactor pressure vessel in-service inspection. That inspection demand high standards of technology and quality and continual innovation in the field of non-destructive testing (NDT) advanced technology as well as regarding reactor pressure vessel tool and control systems. A remote underwater contact ultrasonic technique is employed for the examination of the defined sections (reactor welds), whence eddy current method is applied for clad surface examinations. Visual inspection is used for examination of the vessel inner surface. The movement of probes and data positioning are assured by using new reactor pressure vessel tool concept that is fully integrated with NDT systems. The successful performance is attributed thorough pre-outage planning, training and successful performance demonstration qualification of chosen NDT techniques on the specimens with artificial and/or real defects. Furthermore, use of advanced approach of inspection through implementation the state of the art examination equipment significantly reduced the inspection time, radiation exposure to examination personnel, shortening nuclear power plant outage and cutting the total inspection costs. The advanced approach as presented in this paper offer more flexibility of application (non-destructive tests, local grinding action as well as taking of boat samples

  18. Vessels in Transit - Web Tool

    Data.gov (United States)

    Department of Transportation — A web tool that provides real-time information on vessels transiting the Saint Lawrence Seaway. Visitors may sort by order of turn, vessel name, or last location in...

  19. Radiant vessel auxiliary cooling system

    Science.gov (United States)

    Germer, John H.

    1987-01-01

    In a modular liquid-metal pool breeder reactor, a radiant vessel auxiliary cooling system is disclosed for removing the residual heat resulting from the shutdown of a reactor by a completely passive heat transfer system. A shell surrounds the reactor and containment vessel, separated from the containment vessel by an air passage. Natural circulation of air is provided by air vents at the lower and upper ends of the shell. Longitudinal, radial and inwardly extending fins extend from the shell into the air passage. The fins are heated by radiation from the containment vessel and convect the heat to the circulating air. Residual heat from the primary reactor vessel is transmitted from the reactor vessel through an inert gas plenum to a guard or containment vessel designed to contain any leaking coolant. The containment vessel is conventional and is surrounded by the shell.

  20. Attachment Fitting for Pressure Vessel

    Science.gov (United States)

    Smeltzer, Stanley S., III (Inventor); Carrigan, Robert W. (Inventor)

    2002-01-01

    This invention provides sealed access to the interior of a pressure vessel and consists of a tube. a collar, redundant seals, and a port. The port allows the seals to be pressurized and seated before the pressure vessel becomes pressurized.

  1. Mobile nuclear reactor containment vessel

    International Nuclear Information System (INIS)

    Thompson, R.E.; Spurrier, F.R.; Jones, A.R.

    1978-01-01

    A containment vessel for use in mobile nuclear reactor installations is described. The containment vessel completely surrounds the entire primary system, and is located as close to the reactor primary system components as is possible in order to minimize weight. In addition to being designed to withstand a specified internal pressure, the containment vessel is also designed to maintain integrity as a containment vessel in case of a possible collision accident

  2. Spent fuel transporting vessel

    International Nuclear Information System (INIS)

    Kumagaya, Takeshi.

    1995-01-01

    A large number of annular cooling fins are disposed each at an equal distance on the outer circumferential surface of a vessel main body. An electric power generation module is disposed on the surface of the cooling fins. The electric power generation module comprises a plurality of thermoelectric power generation elements. In each of the thermoelectric generation elements, the inner side thereof in contact with the surface of the cooling fin is at a high temperature while the outer side thereof is at a low temperature nearly equal with an atmospheric temperature. A predetermined amount of electric power is generated by seebeck effect due to the temperature difference. The electric power is always stored in a battery. Accordingly, even if a power generator of a ship should fail and power supply is stopped during transportation of the vessels for spent nuclear fuels, an appropriate amount of electric power can be supplied to a cooling device of the ship. (I.N.)

  3. Reactor vessel sealing plug

    International Nuclear Information System (INIS)

    Dooley, R.A.

    1986-01-01

    An apparatus is described for sealing a cold leg nozzle of a nuclear reactor pressure vessel from a remote location comprising: at least one sealing plug for mechanically sealing the nozzle from the inside of the reactor pressure vessel. The sealing plug includes a plate and a cone assembly having an end part receptive in the nozzle, the plate being axially moveable relative to the cone assembly. The plate and cone assembly have confronting bevelled edges defining an opening therebetween. A primary O-ring is disposed about the opening and is supported on the bevelled edges, the plate being guidably mounted to the cone assembly for movement toward the cone assembly to radially expand the primary O-ring into sealing engagement with the nozzle. A means is included for providing relative movement between the outer plate and the cone assembly

  4. Reactor Pressure Vessel Steels

    Energy Technology Data Exchange (ETDEWEB)

    Van de Velde, J.; Fabry, A.; Van Walle, E.; Chaoudi, R

    1998-07-01

    SCK-CEN's R and D programme on Reactor Pressure Vessel (RPV) Steels in performed in support of the RVP integrity assessment. Its main objectives are: (1) to develop enhanced surveillance concepts by applying micromechanics and fracture-toughness tests to small specimens, and by performing damage modelling and microstructure characterization; (2) to demonstrate the applied methodology on a broad database; (3) to achieve regulatory acceptance and industrial use. Progress and achievements in 1999 are reported.

  5. High pressure storage vessel

    Science.gov (United States)

    Liu, Qiang

    2013-08-27

    Disclosed herein is a composite pressure vessel with a liner having a polar boss and a blind boss a shell is formed around the liner via one or more filament wrappings continuously disposed around at least a substantial portion of the liner assembly combined the liner and filament wrapping have a support profile. To reduce susceptible to rupture a locally disposed filament fiber is added.

  6. Ionizing radiations and blood vessels

    International Nuclear Information System (INIS)

    Vorob'ev, E.I.; Stepanov, R.P.

    1985-01-01

    Data on phenomenology of radiation-induced changes in blood vessels are systematized and authors' experience is generalized. Modern concepts about processes leading to vessel structure injury after irradiation is critically analyzed. Special attention is paid to reparation and compensation of X-ray vessel injury, consideration of which is not yet sufficiently elucidated in literature

  7. Ionizing radiations and blood vessels

    International Nuclear Information System (INIS)

    Vorob'ev, E.I.; Stepanov, R.P.

    1985-01-01

    Data on phenomeology of radiation changes of blood vessels are systemized and the authors' experience is generalyzed. A critical analysis of modern conceptions on processes resulting in vessel structure damage after irradiation, is given. Special attention is paid to reparation and compensation of radiation injury of vessels

  8. Fabrication of mercury target vessel

    International Nuclear Information System (INIS)

    Wakui, Takashi; Kogawa, Hiroyuki; Haga, Katsuhiro; Futakawa, Masatoshi; Hayashi, Ryoichi; Uchiyama, Naoyoshi; Okamoto, Yoshinao; Nakamura, Koji

    2010-03-01

    The construction of materials and life science experimental facility in J-PARC (Japan Proton Accelerator Complex) project had been completed and accepted pulsed proton beams with low power. Since 2003, the detailed design, fabrication and examination for the mercury target vessel as a pulsed neutron source were carried out by the vender. The mercury target vessel consists of triple-walled structure in order to prevent the leak of mercury to outside at the failure of the mercury vessel and to remove the heat of the safety hull, which covers the mercury vessel, due to the injection of the pulsed proton beams. The high fabrication accuracy is required for the mercury target vessel assembled by the welding, because there are the relationships between the mercury target vessel and other components (target trolley, target storage container, flange of helium vessel, reflector and water-cooled shield). At each fabrication step, the examinations for the mercury target vessel with multi-walled structure were required. In this report, the required specification and basic structure of parts in the mercury target vessel are described and the fabrication procedure of the mercury target vessel by the vender is reported. In the fabrication of the mercury target vessel, there were many troubles such as large deformation due to the welding and then the vender repaired and brought the mercury target vessel to completion. Furthermore, improvements for the design and fabrication of the mercury target are reported. (author)

  9. Reactor pressure vessel nozzle

    Science.gov (United States)

    Challberg, Roy C.; Upton, Hubert A.

    1994-01-01

    A nozzle for joining a pool of water to a nuclear reactor pressure vessel includes a tubular body having a proximal end joinable to the pressure vessel and a distal end joinable in flow communication with the pool. The body includes a flow passage therethrough having in serial flow communication a first port at the distal end, a throat spaced axially from the first port, a conical channel extending axially from the throat, and a second port at the proximal end which is joinable in flow communication with the pressure vessel. The inner diameter of the flow passage decreases from the first port to the throat and then increases along the conical channel to the second port. In this way, the conical channel acts as a diverging channel or diffuser in the forward flow direction from the first port to the second port for recovering pressure due to the flow restriction provided by the throat. In the backflow direction from the second port to the first port, the conical channel is a converging channel and with the abrupt increase in flow area from the throat to the first port collectively increase resistance to flow therethrough.

  10. Underwater Animal Monitoring Magnetic Sensor System

    KAUST Repository

    Kaidarova, Altynay

    2017-10-01

    Obtaining new insights into the behavior of free-living marine organisms is fundamental for conservation efforts and anticipating the impact of climate change on marine ecosystems. Despite the recent advances in biotelemetry, collecting physiological and behavioral parameters of underwater free-living animals remains technically challenging. In this thesis, we develop the first magnetic underwater animal monitoring system that utilizes Tunnel magnetoresistance (TMR) sensors, the most sensitive solid-state sensors today, coupled with flexible magnetic composites. The TMR sensors are composed of CoFeB free layers and MgO tunnel barriers, patterned using standard optical lithography and ion milling procedures. The short and long-term stability of the TMR sensors has been studied using statistical and Allan deviation analysis. Instrumentation noise has been reduced using optimized electrical interconnection schemes. We also develop flexible NdFeB-PDMS composite magnets optimized for applications in corrosive marine environments, and which can be attached to marine animals. The magnetic and mechanical properties are studied for different NdFeB powder concentrations and the performance of the magnetic composites for different exposure times to sea water is systematically investigated. Without protective layer, the composite magnets loose more than 50% of their magnetization after 51 days in seawater. The durability of the composite magnets can be considerably improved by using polymer coatings which are protecting the composite magnet, whereby Parylene C is found to be the most effective solution, providing simultaneously corrosion resistance, flexibility, and enhanced biocompatibility. A Parylene C film of 2μm thickness provides the sufficient protection of the magnetic composite in corrosive aqueous environments for more than 70 days. For the high level performance of the system, the theoretically optimal position of the composite magnets with respect to the sensing

  11. Underwater Optical Wireless Channel Modeling Using Monte-Carlo Method

    Science.gov (United States)

    Saini, P. Sri; Prince, Shanthi

    2011-10-01

    At present, there is a lot of interest in the functioning of the marine environment. Unmanned or Autonomous Underwater Vehicles (UUVs or AUVs) are used in the exploration of the underwater resources, pollution monitoring, disaster prevention etc. Underwater, where radio waves do not propagate, acoustic communication is being used. But, underwater communication is moving towards Optical Communication which has higher bandwidth when compared to Acoustic Communication but has shorter range comparatively. Underwater Optical Wireless Communication (OWC) is mainly affected by the absorption and scattering of the optical signal. In coastal waters, both inherent and apparent optical properties (IOPs and AOPs) are influenced by a wide array of physical, biological and chemical processes leading to optical variability. The scattering effect has two effects: the attenuation of the signal and the Inter-Symbol Interference (ISI) of the signal. However, the Inter-Symbol Interference is ignored in the present paper. Therefore, in order to have an efficient underwater OWC link it is necessary to model the channel efficiently. In this paper, the underwater optical channel is modeled using Monte-Carlo method. The Monte Carlo approach provides the most general and most flexible technique for numerically solving the equations of Radiative transfer. The attenuation co-efficient of the light signal is studied as a function of the absorption (a) and scattering (b) coefficients. It has been observed that for pure sea water and for less chlorophyll conditions blue wavelength is less absorbed whereas for chlorophyll rich environment red wavelength signal is absorbed less comparative to blue and green wavelength.

  12. Sewage outfall plume dispersion observations with an autonomous underwater vehicle.

    Science.gov (United States)

    Ramos, P; Cunha, S R; Neves, M V; Pereira, F L; Quintaneiro, I

    2005-01-01

    This work represents one of the first successful applications of Autonomous Underwater Vehicles (AUVs) for interdisciplinary coastal research. A monitoring mission to study the shape and estimate the initial dilution of the S. Jacinto sewage outfall plume using an AUV was performed on July 2002. An efficient sampling strategy enabling greater improvements in spatial and temporal range of detection demonstrated that the sewage effluent plume can be clearly traced using naturally occurring tracers in the wastewater. The outfall plume was found at the surface highly influenced by the weak stratification and low currents. Dilution varying with distance downstream was estimated from the plume rise over the outfall diffuser until a nearly constant value of 130:1, 60 m from the diffuser, indicating the near field end. Our results demonstrate that AUVs can provide high-quality measurements of physical properties of effluent plumes in a very effective manner and valuable considerations about the initial mixing processes under real oceanic conditions can be further investigated.

  13. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  14. Uniformity of cylindrical imploding underwater shockwaves at very small radii

    Science.gov (United States)

    Yanuka, D.; Rososhek, A.; Bland, S. N.; Krasik, Ya. E.

    2017-11-01

    We compare the convergent shockwaves generated from underwater, cylindrical arrays of copper wire exploded by multiple kilo-ampere current pulses on nanosecond and microsecond scales. In both cases, the pulsed power devices used for the experiments had the same stored energy (˜500 J) and the wire mass was adjusted to optimize energy transfer to the shockwave. Laser backlit framing images of the shock front were achieved down to the radius of 30 μm. It was found that even in the case of initial azimuthal non-symmetry, the shock wave self-repairs in the final stages of its motion, leading to a highly uniform implosion. In both these and previous experiments, interference fringes have been observed in streak and framing images as the shockwave approached the axis. We have been able to accurately model the origin of the fringes, which is due to the propagation of the laser beam diffracting off the uniform converging shock front. The dynamics of the shockwave and its uniformity at small radii indicate that even with only 500 J stored energies, this technique should produce pressures above 1010 Pa on the axis, with temperatures and densities ideal for warm dense matter research.

  15. Upper limb joint forces and moments during underwater cyclical movements.

    Science.gov (United States)

    Lauer, Jessy; Rouard, Annie Hélène; Vilas-Boas, João Paulo

    2016-10-03

    Sound inverse dynamics modeling is lacking in aquatic locomotion research because of the difficulty in measuring hydrodynamic forces in dynamic conditions. Here we report the successful implementation and validation of an innovative methodology crossing new computational fluid dynamics and inverse dynamics techniques to quantify upper limb joint forces and moments while moving in water. Upper limb kinematics of seven male swimmers sculling while ballasted with 4kg was recorded through underwater motion capture. Together with body scans, segment inertial properties, and hydrodynamic resistances computed from a unique dynamic mesh algorithm capable to handle large body deformations, these data were fed into an inverse dynamics model to solve for joint kinetics. Simulation validity was assessed by comparing the impulse produced by the arms, calculated by integrating vertical forces over a stroke period, to the net theoretical impulse of buoyancy and ballast forces. A resulting gap of 1.2±3.5% provided confidence in the results. Upper limb joint load was within 5% of swimmer׳s body weight, which tends to supports the use of low-load aquatic exercises to reduce joint stress. We expect this significant methodological improvement to pave the way towards deeper insights into the mechanics of aquatic movement and the establishment of practice guidelines in rehabilitation, fitness or swimming performance. Copyright © 2016 Elsevier Ltd. All rights reserved.

  16. Stowing the Right Containers on Container Vessels

    DEFF Research Database (Denmark)

    Jensen, Rune Møller

    2014-01-01

    ’s largest container vessels using standard mathematical programming techniques and off-the-shelf solvers. The presentation will provide basic insight into the domain, with pointers to further information that enable you to join in this promising new path of operations research and business....

  17. Systems aspects of reactor pressure vessel integrity: Executive report

    International Nuclear Information System (INIS)

    Ray, N.K.; Beck, R.K.; Wallace, I.W.; Grigsby, J.M.; Sloane, B.D.; Bishop, B.A.

    1993-11-01

    Reactor vessel integrity is affected by the following key issues: Operational heatup and cooldown pressure-temperature limit curves and the associated occurrence of low temperature over pressurization (LTOP); pressurized thermal shock (PTS) events that could lead to crack initiation in the vessel, and irradiation effects, including low upper shelf fracture toughness. Electric Power Research Institute's Embrittlement Management Program is underway to develop methods in assessing reactor vessel integrity issues due to radiation embrittlement. Reactor vessel integrity may be impacted by different aspects including some degradation mechanisms. One of those aspects are the plant system changes associated with the reactor vessel. This report uses the results from various probabilistic analyses performed by Westinghouse and other organizations, to identify those plant systems which are most important to the reactor vessel embrittlement issues

  18. Fast Generation of Container Vessel Stowage Plans

    DEFF Research Database (Denmark)

    Pacino, Dario

    is evaluated. In the second phase, the assignment of containers is refined to specific positions within the ship and lower level constraints are handled. The approach has been implemented with a combination of operations research and artificial intelligence methods, and has produced promising results on real....... Before the vessel arrives at a port, it is the job of a stowage coordinator to devise a stowage plan. A stowage plan is a document describing where each container should be loaded in the vessel once terminal operations commence. When creating stowage plans, stowage coordinators must make sure...

  19. A Framework for Evaluating Advanced Search Concepts for Multiple Autonomous Underwater Vehicle (AUV) Mine Countermeasures (MCM)

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

    .... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...

  20. A comparative view of routing protocols for underwater wireless sensor networks

    NARCIS (Netherlands)

    Bayrakdar, Y.; Meratnia, Nirvana; Kantarci, Aylin

    2011-01-01

    Design of efficient routing protocols for underwater sensor networks is challenging because of the distinctive characteristics of the water medium. Currently, many routing protocols are available for terrestrial wireless sensor networks. However, specific properties of underwater medium such as

  1. Predictive Model for the Analysis of the Effects of Underwater Impulsive Sources on Marine Life

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

    A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...

  2. Shape optimisation of an underwater Bernoulli gripper

    Science.gov (United States)

    Flint, Tim; Sellier, Mathieu

    2015-11-01

    In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.

  3. Underwater radiated noise from modern commercial ships.

    Science.gov (United States)

    McKenna, Megan F; Ross, Donald; Wiggins, Sean M; Hildebrand, John A

    2012-01-01

    Underwater radiated noise measurements for seven types of modern commercial ships during normal operating conditions are presented. Calibrated acoustic data (autonomous seafloor-mounted acoustic recorder were combined with ship passage information from the Automatic Identification System. This approach allowed for detailed measurements (i.e., source level, sound exposure level, and transmission range) on ships of opportunity. A key result was different acoustic levels and spectral shapes observed from different ship-types. A 54 kGT container ship had the highest broadband source level at 188 dB re 1 μPa@1m; a 26 kGT chemical tanker had the lowest at 177 dB re 1 μPa@1m. Bulk carriers had higher source levels near 100 Hz, while container ship and tanker noise was predominantly below 40 Hz. Simple models to predict source levels of modern merchant ships as a group from particular ship characteristics (e.g., length, gross tonnage, and speed) were not possible given individual ship-type differences. Furthermore, ship noise was observed to radiate asymmetrically. Stern aspect noise levels are 5 to 10 dB higher than bow aspect noise levels. Collectively, these results emphasize the importance of including modern ship-types in quantifying shipping noise for predictive models of global, regional, and local marine environments. © 2012 Acoustical Society of America.

  4. Autonomous Underwater Vehicle Thermoelectric Power Generation

    Science.gov (United States)

    Buckle, J. R.; Knox, A.; Siviter, J.; Montecucco, A.

    2013-07-01

    Autonomous underwater vehicles (AUVs) are a vital part of the oceanographer's toolbox, allowing long-term measurements across a range of ocean depths of a number of ocean properties such as salinity, fluorescence, and temperature profile. Buoyancy-based gliding, rather than direct propulsion, dramatically reduces AUV power consumption and allows long-duration missions on the order of months rather than hours or days, allowing large distances to be analyzed or many successive analyses of a certain area without the need for retrieval. Recent versions of these gliders have seen the buoyancy variation system change from electrically powered to thermally powered using phase-change materials, however a significant battery pack is still required to power communications and sensors, with power consumption in the region of 250 mW. The authors propose a novel application of a thermoelectric generation system, utilizing the depth-related variation in oceanic temperature. A thermal energy store provides a temperature differential across which a thermoelectric device can generate from repeated dives, with the primary purpose of extending mission range. The system is modeled in Simulink to analyze the effect of variation in design parameters. The system proves capable of generating all required power for a modern AUV.

  5. Data extraction system for underwater particle holography

    Science.gov (United States)

    Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John

    2000-08-01

    Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.

  6. Activities of the training vessel Umitaka-maru (KARE-15; UM-11-07 of the Tokyo University of Marine Science and Technology during the 53rd Japanese Antarctic Research Expedition in 2011/2012

    Directory of Open Access Journals (Sweden)

    Masato Moteki

    2015-11-01

    Full Text Available The training vessel Umitaka-maru of the Tokyo University of Marine Science and Technology (TUMSAT undertook a marine science cruise in the Indian sector of the Southern Ocean during the 2011/2012 austral summer. During the cruise, TUMSAT conducted five different collaborative research projects. These included two phase-VIII Japanese Antarctic Research Expedition (JARE-52 to -57 projects: "Responses of Antarctic Marine Ecosystems to Global Environmental Changes with Carbonate Systems", which is the sub-theme of the prioritized research project "Exploring Global Warming from Antarctica"; and the ordinary research project "Studies on Plankton Community Structure and Environment Parameters in the Southern Ocean". The other three collaborative research projects were those undertaken in conjunction with (1 the National Institute of Polar Research, entitled "Environment and Ecosystem Changes in the Southern Ocean"; (2 the Japan Agency for Marine-Earth Science and Technology (JAMSTEC, entitled "Deployment of the Southern Ocean Buoy" ; and (3 with Hokkaido University, entitled "Studies on Dynamics of Antarctic Bottom Water". The Umitaka-maru departed from Fremantle, Australia, on 27 December 2011, sailed to the study area around the marginal sea ice zone (mainly along 110°E and 140°E, and returned to Hobart, Australia, on 1 February 2012. The participants performed various net castings to qualitatively evaluate the vertical distribution of plankton communities, made physical observations, and measured chemical parameters. They also retrieved a year-round mooring that had been deployed the previous year, retrieved two surface drifting buoys that had been released by the ice breaker Shirase, and deployed a JAMSTEC buoy (m-TRITON. In addition, several acidified culture experiments using pteropods were conducted on board.

  7. 15 CFR 971.205 - Vessel safety and documentation.

    Science.gov (United States)

    2010-01-01

    ... research: (a) U.S. flag vessel. All mining ships and at least one of the transport ships used by each permittee must be documented under the laws of the United States. To the extent that the applicant knows... using, it must submit the applicable certification for each vessel before the cruise on which it will be...

  8. Baking results of KSTAR vacuum vessel

    International Nuclear Information System (INIS)

    Kim, S. T.; Kim, Y. J.; Kim, K. M.; Im, D. S.; Joung, N. Y.; Yang, H. L.; Kim, Y. S.; Kwon, M.

    2009-01-01

    The Korea Superconducting Tokamak Advanced Research (KSTAR) is an advanced superconducting tokamak designed to establish a scientific and technological basis for an attractive fusion reactor. The fusion energy in the tokamak device is released through fusion reactions of light atoms such as deuterium or helium in hot plasma state, of which temperature reaches several hundreds of millions Celsius. The high temperature plasma is created in the vacuum vessel that provides ultra high vacuum status. Accordingly, it is most important for the vacuum condition to keep clean not only inner space but also surface of the vacuum vessel to make high quality plasma. There are two methods planned to clean the wall surface of the KSTAR vacuum vessel. One is surface baking and the other is glow discharge cleaning (GDC). To bake the vacuum vessel, De-Ionized (DI) water is heated to 130 .deg. C and circulated in the passage between double walls of the vacuum vessel (VV) in order to bake the surface. The GDC operation uses hydrogen and inert gas discharges. In this paper, general configuration and brief introduction of the baking result will be reported

  9. TMI-2 Vessel Investigation Project integration report

    International Nuclear Information System (INIS)

    Wolf, J.R.; Rempe, J.L.; Stickler, L.A.; Korth, G.E.; Diercks, D.R.; Neimark, L.A.; Akers, D.W.; Schuetz, B.K.; Shearer, T.L.; Chavez, S.A.; Thinnes, G.L.; Witt, R.J.; Corradini, M.L.; Kos, J.A.

    1994-03-01

    The Three Mile Island Unit 2 (TMI-2) Vessel Investigation Project (VIP) was an international effort that was sponsored by the Nuclear Energy Agency of the Organization for Economic Cooperation and Development. The primary objectives of the VIP were to extract and examine samples from the lower head and to evaluate the potential modes of failure and the margin of structural integrity that remained in the TMI-2 reactor vessel during the accident. This report presents a summary of the major findings and conclusions that were developed from research during the VIP. Results from the various elements of the project are integrated to form a cohesive understanding of the vessel's condition after the accident

  10. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  11. Modeling and Simulation of Underwater Flexible Manipulator as Raleigh Beam Using Bond Graph

    OpenAIRE

    Sumit Kumar; Sunil Kumar; Chandan Deep Singh

    2015-01-01

    This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the u...

  12. Design and implementation of an underwater sound recording device.

    Science.gov (United States)

    Martinez, Jayson J; Myers, Josh R; Carlson, Thomas J; Deng, Z Daniel; Rohrer, John S; Caviggia, Kurt A; Woodley, Christa M; Weiland, Mark A

    2011-01-01

    To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR) allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  13. Design and Implementation of an Underwater Sound Recording Device

    Directory of Open Access Journals (Sweden)

    Christa M. Woodley

    2011-09-01

    Full Text Available To monitor the underwater sound and pressure waves generated by anthropogenic activities such as underwater blasting and pile driving, an autonomous system was designed to record underwater acoustic signals. The underwater sound recording device (USR allows for connections of two hydrophones or other dynamic pressure sensors, filters high frequency noise out of the collected signals, has a gain that can be independently set for each sensor, and allows for 2 h of data collection. Two versions of the USR were created: a submersible model deployable to a maximum depth of 300 m, and a watertight but not fully submersible model. Tests were performed on the USR in the laboratory using a data acquisition system to send single-frequency sinusoidal voltages directly to each component. These tests verified that the device operates as designed and performs as well as larger commercially available data acquisition systems, which are not suited for field use. On average, the designed gain values differed from the actual measured gain values by about 0.35 dB. A prototype of the device was used in a case study to measure blast pressures while investigating the effect of underwater rock blasting on juvenile Chinook salmon and rainbow trout. In the case study, maximum positive pressure from the blast was found to be significantly correlated with frequency of injury for individual fish. The case study also demonstrated that the device withstood operation in harsh environments, making it a valuable tool for collecting field measurements.

  14. Underwater topography acquired by remote sensing based on SOFM

    Science.gov (United States)

    Zhao, Jianhu; Zhou, Fengnian; Zhang, Hongmei; Li, Juanjuan

    2008-12-01

    In large-scope marine investigation, the traditional bathymetric measurement can not meet the requirement of rapid data acquisition with lower cost of financial and material resources, while remote sensing (RS) technology provides a perfect way in the work. RS can not only provide quickly and efficiently the information of underwater topography with respect to the traditional method, but also present corresponding underwater topography with different-period RS images. In this paper, we depict in detail the procedures and some key techniques in acquiring underwater topography by remote sensing inversion technology based on self-organization feature mapping (SOFM). Firstly, we introduce some basic theories about the acquisition of underwater topography by the RS inversion technology. Besides, we discuss the data acquisition and preparation in the work. Moreover, we implement correlation analysis and find out the sensitive bands used for building RS inversion model. In virtue of SOFM, we construct the mapping relation between water depth and the reflectivity of sensitive band in the studied area, and test the it in two experimental water areas. The model achieves satisfying accuracy and can meet the requirement of given bathymetric scale. Finally the mapping relation is used for the water depth inversion in the studied water area. We also use the water depth from the model to draw the underwater topographic map in the water area.

  15. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  16. Feasibility of in situ beta ray measurements in underwater environment.

    Science.gov (United States)

    Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

    2017-09-01

    We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

  17. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  18. Underwater wireless optical communications: From system-level demonstrations to channel modelling

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

    In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

  19. 76 FR 31233 - Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY

    Science.gov (United States)

    2011-05-31

    ...-AA00 Safety Zone; Underwater Hazard, Gravesend Bay, Brooklyn, NY AGENCY: Coast Guard, DHS. ACTION... maritime public and safety of navigation from recently discovered underwater explosive hazards in Gravesend... published a notice of proposed rulemaking (NPRM) entitled ``Safety Zone; Underwater Hazard, Gravesend Bay...

  20. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.

    2017-12-13

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.

  1. Development of ROV System for FOSAR in Reactor Vessel

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Young Soo; Kim, Tae Won; Lee, Sung Uk; Jeong, Kyung Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Kim, Nam Kyun [Korea Plant Service and Engineering Co., Seongnam (Korea, Republic of)

    2011-10-15

    Foreign object in the reactor vessel is susceptible to damage the fuel. Prior to reloading fuel assemblies into the core, FOSAR(Foreign Object Search And Retrieval) activities were performed on and beneath the lower core plate with conventional equipment. However, the reactor vessel is limited to humans who are susceptible to radiation exposure, and conventional equipment is hard to access because of the complexity of the structure. To improve the convenience of use and retrieval ability in the under-core plate region, we are developing a FOSAR system carried by ROV (Remotely Operated Vehicle). In this paper, we describe a ROV system developed. The ROV system is composed of robot vehicle and remote control unit. The vehicle has 4 thrusters, tilt, camera, light and depth sensor, etc. Considering radiation damage, processors are not equipped on the vehicle. Control signals and sensing signals are transferred through umbilical cable. Remote control unit is composed of electric driving module and two computers which one is for the control and the other is for the detection of robot position. Control computer has a joystick user input and video/signal input, and transmit motor control signal and lens control signal via CAN/RS485 communication. And the other computers transmit information of vehicle position to the control computer via serial communication. Information of vehicle position is obtained through image processing algorithm. The acquiring camera of vehicle is on the flange of reactor vessel. Simulations on the detection of vehicle position are performed at the reactor vessel mockup which scaled down by 6 and verified to use in the control of robot by visual tracking. And functional test has been performed on the air condition. In the future, performance test will be carried out real sized mockup and underwater condition

  2. Chaos-Based Underwater Communication With Arbitrary Transducers and Bandwidth

    Directory of Open Access Journals (Sweden)

    Chao Bai

    2018-01-01

    Full Text Available In this work, an enhanced differential chaos shift keying (DCSK, based on a first order hybrid chaotic system, is being proposed for a high reliability underwater acoustic communication system. It can be integrated into systems that use standard existing transducers. We show that a coherent operation between the received signal and the time reversal of the basis function in a first order hybrid chaotic system maximizes the signal to noise ratio at the receiver. Concurrently, DCSK configuration is used to resist the distortion caused by the complex underwater acoustic channel. Our simulation results show that the proposed method has lower bit error rate (BER. In addition, it shows higher communication reliability over underwater acoustic channel as compared to the conventional DCSK using logistic map and its variant forms such as Correlation Delay Shift Keying (CDSK, Phase-Separate DCSK (PS-DCSK, High Efficiency DCSK (HE-DCSK, and Reference Modulated DCSK (RM-DCSK.

  3. Underwater video enhancement using multi-camera super-resolution

    Science.gov (United States)

    Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

    2017-12-01

    Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

  4. Underwater Imaging Using a 1 × 16 CMUT Linear Array.

    Science.gov (United States)

    Zhang, Rui; Zhang, Wendong; He, Changde; Zhang, Yongmei; Song, Jinlong; Xue, Chenyang

    2016-03-01

    A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V) at 1 m. The -3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.

  5. Underwater Imaging Using a 1 × 16 CMUT Linear Array

    Directory of Open Access Journals (Sweden)

    Rui Zhang

    2016-03-01

    Full Text Available A 1 × 16 capacitive micro-machined ultrasonic transducer linear array was designed, fabricated, and tested for underwater imaging in the low frequency range. The linear array was fabricated using Si-SOI bonding techniques. Underwater transmission performance was tested in a water tank, and the array has a resonant frequency of 700 kHz, with pressure amplitude 182 dB (μPa·m/V at 1 m. The −3 dB main beam width of the designed dense linear array is approximately 5 degrees. Synthetic aperture focusing technique was applied to improve the resolution of reconstructed images, with promising results. Thus, the proposed array was shown to be suitable for underwater imaging applications.

  6. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  7. A simple inexpensive method for estimating underwater weight.

    Science.gov (United States)

    Thomas, T. R.; Cook, P. L.

    1978-01-01

    A description is given of a simple, inexpensive and versatile method for estimating underwater weight. The use of a portable stock tank allows the determination of % Fat by underwater weighing without requiring a swimming pool, built-in tank, or special facility. Twenty-eight college students were weighed on two separate testing sessions 24-48 hours apart. Ten trials were performed at each session. The mean of the last five trials was used in determining underwater weight. The test-retest reliability coefficient was high, r = 0.98, and most of the successive trial correlations were above 0.99. The mean % Fat for the women (N = 9) was 22.2 +/- 5.9 and for the men (N = 19) was 13.7 +/- 5.1. Images Figure 1 PMID:630178

  8. An underwater optical wireless communication system based on LED source

    Science.gov (United States)

    Rao, Jionghui; Wei, Wei; Wang, Feng; Zhang, Xiaohui

    2011-11-01

    Compared with other communication methods, optical wireless communication (OWC) holds the merits of higher transmitting rate and sufficient secrecy. So it is an efficacious communicating measure for data transmitting between underwater carriers. However, due to the water attenuation and the transmitter & the receiver (TX/RX) collimation, this application is restrained in underwater mobile carriers. A prototype for underwater OWC was developed, in which a high-powered green LED array was used as the light source which partly raveled the TX/RX collimation out. A small pumped-multiple-tube (PMT) was used as the detector to increase the communicating range, and FPGA chips were employed to code and decode the communicating data. The data rate of the prototype approached to 4 Mb/s at 8.4m and 1 Mb/s at 22m where voice and Morse communications were achieved in a scope of 30 degree TX/RX angle.

  9. Broadband focusing of underwater sound using a transparent pentamode lens.

    Science.gov (United States)

    Su, Xiaoshi; Norris, Andrew N; Cushing, Colby W; Haberman, Michael R; Wilson, Preston S

    2017-06-01

    An inhomogeneous acoustic metamaterial lens based on spatial variation of refractive index for broadband focusing of underwater sound is reported. The index gradient follows a modified hyperbolic secant profile designed to reduce aberration and suppress side lobes. The gradient index (GRIN) lens is comprised of transversely isotropic hexagonal microstructures with tunable quasi-static bulk modulus and mass density. In addition, the unit cells are impedance-matched to water and have in-plane shear modulus negligible compared to the effective bulk modulus. The flat GRIN lens is fabricated by cutting hexagonal centimeter scale hollow microstructures in aluminum plates, which are then stacked and sealed from the exterior water. Broadband focusing effects are observed within the homogenization regime of the lattice in both finite element simulations and underwater measurements (20-40 kHz). This design approach has potential applications in medical ultrasound imaging and underwater acoustic communications.

  10. Underwater Acoustic Communication Quality Evaluation Model Based on USV

    Directory of Open Access Journals (Sweden)

    Zhichao Lv

    2018-01-01

    Full Text Available The unmanned surface vehicle (USV integrated with acoustic modems has some advantages such as easy integration, rapid placement, and low cost, which becomes a kind of selective novel node in the underwater acoustic (UWA communication network and a kind of underwater or overwater communication relay as well. However, it is difficult to ensure the communication quality among the nodes on the network due to the random underwater acoustic channel, the severe marine environment, and the complex mobile node system. Aiming to model the communication characteristics of the USV, the multipath effect and Doppler effect are main concerns for the UWA communication in this paper, so that the ray beam method is utilized, the channel transmission function and the channel gain are obtained, and the mobile communication quality evaluation model is built. The simulation and lake experiments verify that the built mobile UWA communication quality evaluation model on USV can provide preference and technique support for USV applications.

  11. Course Outline for a SCUBA Diving Speciality "UNDERWATER Survey DIVER"

    Science.gov (United States)

    Papadimitriou, K.

    2015-04-01

    The purpose of this paper is to outline a course for the training of divers with a special interest in underwater surveying (e.g. surveyors, archaeologists, biologists, geologists, photographers/videographers). This outline presents: i) the Courses' Standards ii) the Learning Objectives for the related Knowledge Development, iii) the Skills that have to be conducted, iv) the Performance Requirements for the students and v) the Open Water Considerations for the Training Dives. It is expected that the resulting course outline will be used as a reference for the training of certified divers who want to become underwater surveyors, providing them basic knowledge and skills to survey adequate data for the detailed documentation of submerged features. Moreover the combination of knowledge (what) and the skills (how) that are presented during the proposed course attempt to define a protocol for the recording of underwater features in favor of mapping and 3D modeling.

  12. Underwater Time Service and Synchronization Based on Time Reversal Technique

    Science.gov (United States)

    Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh

    2010-09-01

    Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.

  13. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.

  14. A potential flow based flight simulator for an underwater glider

    Science.gov (United States)

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François

    2013-03-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.

  15. Development and experiments of the Sea-Wing underwater glider

    Science.gov (United States)

    Yu, Jian-Cheng; Zhang, Ai-Qun; Jin, Wen-Ming; Chen, Qi; Tian, Yu; Liu, Chong-Jie

    2011-12-01

    Underwater gliders, which glide through water columns by use of a pair of wings, are efficient long-distance, long-duration marine environment observatory platforms. The Sea-Wing underwater glider, developed by the Shenyang Institute of Automation, CAS, is designed for the application of deep-sea environment variables observation. The system components, the mechanical design, and the control system design of the Sea-Wing underwater glider are described in this paper. The pitch and roll adjusting models are derived based on the mechanical design, and the adjusting capabilities for the pitch and roll are analyzed according to the models. Field experiments have been carried out for validating the gliding motion and the ability of measuring ocean environment variables. Experimental results of the motion performances of the glider are presented.

  16. An automated vessel segmentation of retinal images using multiscale vesselness

    International Nuclear Information System (INIS)

    Ben Abdallah, M.; Malek, J.; Tourki, R.; Krissian, K.

    2011-01-01

    The ocular fundus image can provide information on pathological changes caused by local ocular diseases and early signs of certain systemic diseases, such as diabetes and hypertension. Automated analysis and interpretation of fundus images has become a necessary and important diagnostic procedure in ophthalmology. The extraction of blood vessels from retinal images is an important and challenging task in medical analysis and diagnosis. In this paper, we introduce an implementation of the anisotropic diffusion which allows reducing the noise and better preserving small structures like vessels in 2D images. A vessel detection filter, based on a multi-scale vesselness function, is then applied to enhance vascular structures.

  17. Research on Underwater Vehicle Based on Multiphase Flow Control

    Directory of Open Access Journals (Sweden)

    Zhang Xiaoshi

    2015-01-01

    Full Text Available The commercial software ANSYS CFX is used for modeling the hydrodynamic characteristics of submarine-launched vehicle. In the numerical simulations, the SST (Shear Stress Transport turbulence model is employed to describe the turbulence phenomenon occurring in the continuous fluid. The Rayleigh-Plesset equations are applied to analyze the cavitation phenomenon. Three-dimensional numerical simulation was carried out to study the cavity shape, the surface pressure distribution and the drag force with different flow control. The result shows that the gas and the number of ventilation holes control to show any significant impact on the cavity shape and the surface pressure are effective measures to decrease resistance.

  18. Underwater Telemetry as a Tool in Aquaculture Research and Development

    Directory of Open Access Journals (Sweden)

    B.A. Holand

    1987-01-01

    Full Text Available Small acoustical transmitters may be used to obtain data from free swimming fish. The main principles behind this technique are described together with some of the equipment developed. Some examples are briefly discussed where heart beats, depth and temperature are measured to describe fish behaviour. Automatic fish tracking equipment that has been used to track fish within an enclosed area is also described.

  19. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

    Full Text Available . This paper will touch on the issues encountered in designing such a vehicle. Typical solutions as well as new ideas will be discussed to overcome these design problems or obstacles. The paper will also show the implementation of such a vehicle...

  20. Annotated Bibliography of Underwater Acoustic Research, 1942-1945.

    Science.gov (United States)

    1983-11-02

    1943 9p. in this memorandum. A simple form of range keeper has been designed in which a D16/R503 359 voltage, obtained from a MASON, R.I. clockwork ...suitable VAN LENNEP, D. W. buoy, equipped with an orange - Measurement of output versus colored pennant, was designed for frequency characteristics of three...to manufactured by the Electro- 12-frequency operation. For this Protective Corporation, and with reason, the new purple, orange , blue, measurements